| 1 | /* Simscape target specific file. |
| 2 | * This file is generated for the Simscape network associated with the solver block 'PlatformAssem/Solver Configuration'. |
| 3 | */ |
| 4 | |
| 5 | #include <math.h> |
| 6 | #include <string.h> |
| 7 | #include "pm_std.h" |
| 8 | #include "sm_std.h" |
| 9 | #include "ne_std.h" |
| 10 | #include "ne_dae.h" |
| 11 | #include "sm_ssci_run_time_errors.h" |
| 12 | #include "sm_CTarget.h" |
| 13 | |
| 14 | void PlatformAssem_f0ca4364_1_checkTargets(const double *rtdv, const double |
| 15 | *state) |
| 16 | { |
| 17 | (void) rtdv; |
| 18 | (void) state; |
| 19 | } |
| 20 | |
| 21 | void PlatformAssem_f0ca4364_1_setTargets(const double *rtdv, CTarget *targets) |
| 22 | { |
| 23 | (void) rtdv; |
| 24 | (void) targets; |
| 25 | } |
| 26 | |
| 27 | void PlatformAssem_f0ca4364_1_resetStateVector(const void *mech, double *state) |
| 28 | { |
| 29 | double xx[2]; |
| 30 | (void) mech; |
| 31 | xx[0] = 0.0; |
| 32 | xx[1] = 1.0; |
| 33 | state[0] = xx[0]; |
| 34 | state[1] = xx[0]; |
| 35 | state[2] = xx[0]; |
| 36 | state[3] = xx[0]; |
| 37 | state[4] = xx[0]; |
| 38 | state[5] = xx[0]; |
| 39 | state[6] = xx[0]; |
| 40 | state[7] = xx[0]; |
| 41 | state[8] = xx[0]; |
| 42 | state[9] = xx[0]; |
| 43 | state[10] = xx[0]; |
| 44 | state[11] = xx[0]; |
| 45 | state[12] = xx[0]; |
| 46 | state[13] = xx[0]; |
| 47 | state[14] = xx[0]; |
| 48 | state[15] = xx[0]; |
| 49 | state[16] = xx[1]; |
| 50 | state[17] = xx[0]; |
| 51 | state[18] = xx[0]; |
| 52 | state[19] = xx[0]; |
| 53 | state[20] = xx[0]; |
| 54 | state[21] = xx[0]; |
| 55 | state[22] = xx[0]; |
| 56 | state[23] = xx[1]; |
| 57 | state[24] = xx[0]; |
| 58 | state[25] = xx[0]; |
| 59 | state[26] = xx[0]; |
| 60 | state[27] = xx[0]; |
| 61 | state[28] = xx[0]; |
| 62 | state[29] = xx[0]; |
| 63 | state[30] = xx[0]; |
| 64 | state[31] = xx[0]; |
| 65 | state[32] = xx[0]; |
| 66 | state[33] = xx[0]; |
| 67 | state[34] = xx[0]; |
| 68 | state[35] = xx[0]; |
| 69 | state[36] = xx[0]; |
| 70 | state[37] = xx[0]; |
| 71 | state[38] = xx[0]; |
| 72 | state[39] = xx[0]; |
| 73 | state[40] = xx[0]; |
| 74 | state[41] = xx[0]; |
| 75 | state[42] = xx[0]; |
| 76 | state[43] = xx[0]; |
| 77 | state[44] = xx[0]; |
| 78 | state[45] = xx[0]; |
| 79 | state[46] = xx[1]; |
| 80 | state[47] = xx[0]; |
| 81 | state[48] = xx[0]; |
| 82 | state[49] = xx[0]; |
| 83 | state[50] = xx[0]; |
| 84 | state[51] = xx[0]; |
| 85 | state[52] = xx[0]; |
| 86 | state[53] = xx[0]; |
| 87 | state[54] = xx[0]; |
| 88 | state[55] = xx[0]; |
| 89 | state[56] = xx[0]; |
| 90 | state[57] = xx[1]; |
| 91 | state[58] = xx[0]; |
| 92 | state[59] = xx[0]; |
| 93 | state[60] = xx[0]; |
| 94 | state[61] = xx[0]; |
| 95 | state[62] = xx[0]; |
| 96 | state[63] = xx[0]; |
| 97 | state[64] = xx[0]; |
| 98 | state[65] = xx[0]; |
| 99 | state[66] = xx[0]; |
| 100 | state[67] = xx[0]; |
| 101 | state[68] = xx[1]; |
| 102 | state[69] = xx[0]; |
| 103 | state[70] = xx[0]; |
| 104 | state[71] = xx[0]; |
| 105 | state[72] = xx[0]; |
| 106 | state[73] = xx[0]; |
| 107 | state[74] = xx[0]; |
| 108 | state[75] = xx[0]; |
| 109 | state[76] = xx[0]; |
| 110 | state[77] = xx[0]; |
| 111 | state[78] = xx[0]; |
| 112 | state[79] = xx[1]; |
| 113 | state[80] = xx[0]; |
| 114 | state[81] = xx[0]; |
| 115 | state[82] = xx[0]; |
| 116 | state[83] = xx[0]; |
| 117 | state[84] = xx[0]; |
| 118 | state[85] = xx[0]; |
| 119 | state[86] = xx[0]; |
| 120 | state[87] = xx[0]; |
| 121 | state[88] = xx[0]; |
| 122 | state[89] = xx[0]; |
| 123 | state[90] = xx[1]; |
| 124 | state[91] = xx[0]; |
| 125 | state[92] = xx[0]; |
| 126 | state[93] = xx[0]; |
| 127 | state[94] = xx[0]; |
| 128 | state[95] = xx[0]; |
| 129 | state[96] = xx[0]; |
| 130 | } |
| 131 | |
| 132 | void PlatformAssem_f0ca4364_1_initializeTrackedAngleState(const void *mech, |
| 133 | const double *rtdv, const double *motionData, double *state, void *neDiagMgr0) |
| 134 | { |
| 135 | NeuDiagnosticManager *neDiagMgr = (NeuDiagnosticManager *) neDiagMgr0; |
| 136 | (void) mech; |
| 137 | (void) rtdv; |
| 138 | (void) motionData; |
| 139 | (void) state; |
| 140 | (void) neDiagMgr; |
| 141 | } |
| 142 | |
| 143 | void PlatformAssem_f0ca4364_1_computeDiscreteState(const void *mech, const |
| 144 | double *rtdv, double *state) |
| 145 | { |
| 146 | (void) mech; |
| 147 | (void) rtdv; |
| 148 | (void) state; |
| 149 | } |
| 150 | |
| 151 | void PlatformAssem_f0ca4364_1_adjustPosition(const void *mech, const double |
| 152 | *dofDeltas, double *state) |
| 153 | { |
| 154 | double xx[42]; |
| 155 | (void) mech; |
| 156 | xx[0] = state[16]; |
| 157 | xx[1] = state[17]; |
| 158 | xx[2] = state[18]; |
| 159 | xx[3] = state[19]; |
| 160 | xx[4] = dofDeltas[8]; |
| 161 | xx[5] = dofDeltas[9]; |
| 162 | xx[6] = dofDeltas[10]; |
| 163 | pm_math_quatDeriv(xx + 0, xx + 4, xx + 7); |
| 164 | xx[0] = state[16] + xx[7]; |
| 165 | xx[1] = state[17] + xx[8]; |
| 166 | xx[2] = state[18] + xx[9]; |
| 167 | xx[3] = state[19] + xx[10]; |
| 168 | xx[4] = 1.0e-64; |
| 169 | xx[5] = sqrt(xx[0] * xx[0] + xx[1] * xx[1] + xx[2] * xx[2] + xx[3] * xx[3]); |
| 170 | if (xx[4] > xx[5]) |
| 171 | xx[5] = xx[4]; |
| 172 | xx[6] = state[23]; |
| 173 | xx[7] = state[24]; |
| 174 | xx[8] = state[25]; |
| 175 | xx[9] = state[26]; |
| 176 | xx[10] = dofDeltas[11]; |
| 177 | xx[11] = dofDeltas[12]; |
| 178 | xx[12] = dofDeltas[13]; |
| 179 | pm_math_quatDeriv(xx + 6, xx + 10, xx + 13); |
| 180 | xx[6] = state[23] + xx[13]; |
| 181 | xx[7] = state[24] + xx[14]; |
| 182 | xx[8] = state[25] + xx[15]; |
| 183 | xx[9] = state[26] + xx[16]; |
| 184 | xx[10] = sqrt(xx[6] * xx[6] + xx[7] * xx[7] + xx[8] * xx[8] + xx[9] * xx[9]); |
| 185 | if (xx[4] > xx[10]) |
| 186 | xx[10] = xx[4]; |
| 187 | xx[11] = state[46]; |
| 188 | xx[12] = state[47]; |
| 189 | xx[13] = state[48]; |
| 190 | xx[14] = state[49]; |
| 191 | xx[15] = dofDeltas[22]; |
| 192 | xx[16] = dofDeltas[23]; |
| 193 | xx[17] = dofDeltas[24]; |
| 194 | pm_math_quatDeriv(xx + 11, xx + 15, xx + 18); |
| 195 | xx[11] = state[46] + xx[18]; |
| 196 | xx[12] = state[47] + xx[19]; |
| 197 | xx[13] = state[48] + xx[20]; |
| 198 | xx[14] = state[49] + xx[21]; |
| 199 | xx[15] = sqrt(xx[11] * xx[11] + xx[12] * xx[12] + xx[13] * xx[13] + xx[14] * |
| 200 | xx[14]); |
| 201 | if (xx[4] > xx[15]) |
| 202 | xx[15] = xx[4]; |
| 203 | xx[16] = state[57]; |
| 204 | xx[17] = state[58]; |
| 205 | xx[18] = state[59]; |
| 206 | xx[19] = state[60]; |
| 207 | xx[20] = dofDeltas[27]; |
| 208 | xx[21] = dofDeltas[28]; |
| 209 | xx[22] = dofDeltas[29]; |
| 210 | pm_math_quatDeriv(xx + 16, xx + 20, xx + 23); |
| 211 | xx[16] = state[57] + xx[23]; |
| 212 | xx[17] = state[58] + xx[24]; |
| 213 | xx[18] = state[59] + xx[25]; |
| 214 | xx[19] = state[60] + xx[26]; |
| 215 | xx[20] = sqrt(xx[16] * xx[16] + xx[17] * xx[17] + xx[18] * xx[18] + xx[19] * |
| 216 | xx[19]); |
| 217 | if (xx[4] > xx[20]) |
| 218 | xx[20] = xx[4]; |
| 219 | xx[21] = state[68]; |
| 220 | xx[22] = state[69]; |
| 221 | xx[23] = state[70]; |
| 222 | xx[24] = state[71]; |
| 223 | xx[25] = dofDeltas[32]; |
| 224 | xx[26] = dofDeltas[33]; |
| 225 | xx[27] = dofDeltas[34]; |
| 226 | pm_math_quatDeriv(xx + 21, xx + 25, xx + 28); |
| 227 | xx[21] = state[68] + xx[28]; |
| 228 | xx[22] = state[69] + xx[29]; |
| 229 | xx[23] = state[70] + xx[30]; |
| 230 | xx[24] = state[71] + xx[31]; |
| 231 | xx[25] = sqrt(xx[21] * xx[21] + xx[22] * xx[22] + xx[23] * xx[23] + xx[24] * |
| 232 | xx[24]); |
| 233 | if (xx[4] > xx[25]) |
| 234 | xx[25] = xx[4]; |
| 235 | xx[26] = state[79]; |
| 236 | xx[27] = state[80]; |
| 237 | xx[28] = state[81]; |
| 238 | xx[29] = state[82]; |
| 239 | xx[30] = dofDeltas[37]; |
| 240 | xx[31] = dofDeltas[38]; |
| 241 | xx[32] = dofDeltas[39]; |
| 242 | pm_math_quatDeriv(xx + 26, xx + 30, xx + 33); |
| 243 | xx[26] = state[79] + xx[33]; |
| 244 | xx[27] = state[80] + xx[34]; |
| 245 | xx[28] = state[81] + xx[35]; |
| 246 | xx[29] = state[82] + xx[36]; |
| 247 | xx[30] = sqrt(xx[26] * xx[26] + xx[27] * xx[27] + xx[28] * xx[28] + xx[29] * |
| 248 | xx[29]); |
| 249 | if (xx[4] > xx[30]) |
| 250 | xx[30] = xx[4]; |
| 251 | xx[31] = state[90]; |
| 252 | xx[32] = state[91]; |
| 253 | xx[33] = state[92]; |
| 254 | xx[34] = state[93]; |
| 255 | xx[35] = dofDeltas[42]; |
| 256 | xx[36] = dofDeltas[43]; |
| 257 | xx[37] = dofDeltas[44]; |
| 258 | pm_math_quatDeriv(xx + 31, xx + 35, xx + 38); |
| 259 | xx[31] = state[90] + xx[38]; |
| 260 | xx[32] = state[91] + xx[39]; |
| 261 | xx[33] = state[92] + xx[40]; |
| 262 | xx[34] = state[93] + xx[41]; |
| 263 | xx[35] = sqrt(xx[31] * xx[31] + xx[32] * xx[32] + xx[33] * xx[33] + xx[34] * |
| 264 | xx[34]); |
| 265 | if (xx[4] > xx[35]) |
| 266 | xx[35] = xx[4]; |
| 267 | state[0] = state[0] + dofDeltas[0]; |
| 268 | state[1] = state[1] + dofDeltas[1]; |
| 269 | state[2] = state[2] + dofDeltas[2]; |
| 270 | state[6] = state[6] + dofDeltas[3]; |
| 271 | state[7] = state[7] + dofDeltas[4]; |
| 272 | state[8] = state[8] + dofDeltas[5]; |
| 273 | state[12] = state[12] + dofDeltas[6]; |
| 274 | state[14] = state[14] + dofDeltas[7]; |
| 275 | state[16] = xx[0] / xx[5]; |
| 276 | state[17] = xx[1] / xx[5]; |
| 277 | state[18] = xx[2] / xx[5]; |
| 278 | state[19] = xx[3] / xx[5]; |
| 279 | state[23] = xx[6] / xx[10]; |
| 280 | state[24] = xx[7] / xx[10]; |
| 281 | state[25] = xx[8] / xx[10]; |
| 282 | state[26] = xx[9] / xx[10]; |
| 283 | state[30] = state[30] + dofDeltas[14]; |
| 284 | state[32] = state[32] + dofDeltas[15]; |
| 285 | state[34] = state[34] + dofDeltas[16]; |
| 286 | state[36] = state[36] + dofDeltas[17]; |
| 287 | state[38] = state[38] + dofDeltas[18]; |
| 288 | state[40] = state[40] + dofDeltas[19]; |
| 289 | state[42] = state[42] + dofDeltas[20]; |
| 290 | state[44] = state[44] + dofDeltas[21]; |
| 291 | state[46] = xx[11] / xx[15]; |
| 292 | state[47] = xx[12] / xx[15]; |
| 293 | state[48] = xx[13] / xx[15]; |
| 294 | state[49] = xx[14] / xx[15]; |
| 295 | state[53] = state[53] + dofDeltas[25]; |
| 296 | state[55] = state[55] + dofDeltas[26]; |
| 297 | state[57] = xx[16] / xx[20]; |
| 298 | state[58] = xx[17] / xx[20]; |
| 299 | state[59] = xx[18] / xx[20]; |
| 300 | state[60] = xx[19] / xx[20]; |
| 301 | state[64] = state[64] + dofDeltas[30]; |
| 302 | state[66] = state[66] + dofDeltas[31]; |
| 303 | state[68] = xx[21] / xx[25]; |
| 304 | state[69] = xx[22] / xx[25]; |
| 305 | state[70] = xx[23] / xx[25]; |
| 306 | state[71] = xx[24] / xx[25]; |
| 307 | state[75] = state[75] + dofDeltas[35]; |
| 308 | state[77] = state[77] + dofDeltas[36]; |
| 309 | state[79] = xx[26] / xx[30]; |
| 310 | state[80] = xx[27] / xx[30]; |
| 311 | state[81] = xx[28] / xx[30]; |
| 312 | state[82] = xx[29] / xx[30]; |
| 313 | state[86] = state[86] + dofDeltas[40]; |
| 314 | state[88] = state[88] + dofDeltas[41]; |
| 315 | state[90] = xx[31] / xx[35]; |
| 316 | state[91] = xx[32] / xx[35]; |
| 317 | state[92] = xx[33] / xx[35]; |
| 318 | state[93] = xx[34] / xx[35]; |
| 319 | } |
| 320 | |
| 321 | static void perturbState_0_0(double mag, double *state) |
| 322 | { |
| 323 | state[0] = state[0] + mag; |
| 324 | } |
| 325 | |
| 326 | static void perturbState_0_0v(double mag, double *state) |
| 327 | { |
| 328 | state[0] = state[0] + mag; |
| 329 | state[3] = state[3] - 0.875 * mag; |
| 330 | } |
| 331 | |
| 332 | static void perturbState_0_1(double mag, double *state) |
| 333 | { |
| 334 | state[1] = state[1] + mag; |
| 335 | } |
| 336 | |
| 337 | static void perturbState_0_1v(double mag, double *state) |
| 338 | { |
| 339 | state[1] = state[1] + mag; |
| 340 | state[4] = state[4] - 0.875 * mag; |
| 341 | } |
| 342 | |
| 343 | static void perturbState_0_2(double mag, double *state) |
| 344 | { |
| 345 | state[2] = state[2] + mag; |
| 346 | } |
| 347 | |
| 348 | static void perturbState_0_2v(double mag, double *state) |
| 349 | { |
| 350 | state[2] = state[2] + mag; |
| 351 | state[5] = state[5] - 0.875 * mag; |
| 352 | } |
| 353 | |
| 354 | static void perturbState_1_0(double mag, double *state) |
| 355 | { |
| 356 | state[6] = state[6] + mag; |
| 357 | } |
| 358 | |
| 359 | static void perturbState_1_0v(double mag, double *state) |
| 360 | { |
| 361 | state[6] = state[6] + mag; |
| 362 | state[9] = state[9] - 0.875 * mag; |
| 363 | } |
| 364 | |
| 365 | static void perturbState_1_1(double mag, double *state) |
| 366 | { |
| 367 | state[7] = state[7] + mag; |
| 368 | } |
| 369 | |
| 370 | static void perturbState_1_1v(double mag, double *state) |
| 371 | { |
| 372 | state[7] = state[7] + mag; |
| 373 | state[10] = state[10] - 0.875 * mag; |
| 374 | } |
| 375 | |
| 376 | static void perturbState_1_2(double mag, double *state) |
| 377 | { |
| 378 | state[8] = state[8] + mag; |
| 379 | } |
| 380 | |
| 381 | static void perturbState_1_2v(double mag, double *state) |
| 382 | { |
| 383 | state[8] = state[8] + mag; |
| 384 | state[11] = state[11] - 0.875 * mag; |
| 385 | } |
| 386 | |
| 387 | static void perturbState_2_0(double mag, double *state) |
| 388 | { |
| 389 | state[12] = state[12] + mag; |
| 390 | } |
| 391 | |
| 392 | static void perturbState_2_0v(double mag, double *state) |
| 393 | { |
| 394 | state[12] = state[12] + mag; |
| 395 | state[13] = state[13] - 0.875 * mag; |
| 396 | } |
| 397 | |
| 398 | static void perturbState_3_0(double mag, double *state) |
| 399 | { |
| 400 | state[14] = state[14] + mag; |
| 401 | } |
| 402 | |
| 403 | static void perturbState_3_0v(double mag, double *state) |
| 404 | { |
| 405 | state[14] = state[14] + mag; |
| 406 | state[15] = state[15] - 0.875 * mag; |
| 407 | } |
| 408 | |
| 409 | static void perturbState_4_0(double mag, double *state) |
| 410 | { |
| 411 | double xx[14]; |
| 412 | xx[0] = 0.5 * mag; |
| 413 | xx[1] = fabs(mag); |
| 414 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 415 | xx[1] = sin(xx[2]); |
| 416 | xx[3] = cos(xx[2]); |
| 417 | xx[4] = sin(2.0 * xx[2]); |
| 418 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 419 | xx[5] = sin(xx[0]); |
| 420 | xx[6] = cos(xx[0]); |
| 421 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 422 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 423 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 424 | xx[0] = state[16]; |
| 425 | xx[1] = state[17]; |
| 426 | xx[2] = state[18]; |
| 427 | xx[3] = state[19]; |
| 428 | pm_math_quatCompose(xx + 6, xx + 0, xx + 10); |
| 429 | state[16] = xx[10]; |
| 430 | state[17] = xx[11]; |
| 431 | state[18] = xx[12]; |
| 432 | state[19] = xx[13]; |
| 433 | } |
| 434 | |
| 435 | static void perturbState_4_0v(double mag, double *state) |
| 436 | { |
| 437 | double xx[14]; |
| 438 | xx[0] = 0.5 * mag; |
| 439 | xx[1] = fabs(mag); |
| 440 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 441 | xx[1] = sin(xx[2]); |
| 442 | xx[3] = cos(xx[2]); |
| 443 | xx[4] = sin(2.0 * xx[2]); |
| 444 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 445 | xx[5] = sin(xx[0]); |
| 446 | xx[6] = cos(xx[0]); |
| 447 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 448 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 449 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 450 | xx[1] = state[16]; |
| 451 | xx[2] = state[17]; |
| 452 | xx[3] = state[18]; |
| 453 | xx[4] = state[19]; |
| 454 | pm_math_quatCompose(xx + 6, xx + 1, xx + 10); |
| 455 | state[16] = xx[10]; |
| 456 | state[17] = xx[11]; |
| 457 | state[18] = xx[12]; |
| 458 | state[19] = xx[13]; |
| 459 | state[20] = state[20] + 1.2 * mag; |
| 460 | state[21] = state[21] - xx[0]; |
| 461 | state[22] = state[22] + 0.9 * mag; |
| 462 | } |
| 463 | |
| 464 | static void perturbState_5_0(double mag, double *state) |
| 465 | { |
| 466 | double xx[14]; |
| 467 | xx[0] = 0.5 * mag; |
| 468 | xx[1] = fabs(mag); |
| 469 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 470 | xx[1] = sin(xx[2]); |
| 471 | xx[3] = cos(xx[2]); |
| 472 | xx[4] = sin(2.0 * xx[2]); |
| 473 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 474 | xx[5] = sin(xx[0]); |
| 475 | xx[6] = cos(xx[0]); |
| 476 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 477 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 478 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 479 | xx[0] = state[23]; |
| 480 | xx[1] = state[24]; |
| 481 | xx[2] = state[25]; |
| 482 | xx[3] = state[26]; |
| 483 | pm_math_quatCompose(xx + 6, xx + 0, xx + 10); |
| 484 | state[23] = xx[10]; |
| 485 | state[24] = xx[11]; |
| 486 | state[25] = xx[12]; |
| 487 | state[26] = xx[13]; |
| 488 | } |
| 489 | |
| 490 | static void perturbState_5_0v(double mag, double *state) |
| 491 | { |
| 492 | double xx[14]; |
| 493 | xx[0] = 0.5 * mag; |
| 494 | xx[1] = fabs(mag); |
| 495 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 496 | xx[1] = sin(xx[2]); |
| 497 | xx[3] = cos(xx[2]); |
| 498 | xx[4] = sin(2.0 * xx[2]); |
| 499 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 500 | xx[5] = sin(xx[0]); |
| 501 | xx[6] = cos(xx[0]); |
| 502 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 503 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 504 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 505 | xx[1] = state[23]; |
| 506 | xx[2] = state[24]; |
| 507 | xx[3] = state[25]; |
| 508 | xx[4] = state[26]; |
| 509 | pm_math_quatCompose(xx + 6, xx + 1, xx + 10); |
| 510 | state[23] = xx[10]; |
| 511 | state[24] = xx[11]; |
| 512 | state[25] = xx[12]; |
| 513 | state[26] = xx[13]; |
| 514 | state[27] = state[27] + 1.2 * mag; |
| 515 | state[28] = state[28] - xx[0]; |
| 516 | state[29] = state[29] + 0.9 * mag; |
| 517 | } |
| 518 | |
| 519 | static void perturbState_6_0(double mag, double *state) |
| 520 | { |
| 521 | state[30] = state[30] + mag; |
| 522 | } |
| 523 | |
| 524 | static void perturbState_6_0v(double mag, double *state) |
| 525 | { |
| 526 | state[30] = state[30] + mag; |
| 527 | state[31] = state[31] - 0.875 * mag; |
| 528 | } |
| 529 | |
| 530 | static void perturbState_7_0(double mag, double *state) |
| 531 | { |
| 532 | state[32] = state[32] + mag; |
| 533 | } |
| 534 | |
| 535 | static void perturbState_7_0v(double mag, double *state) |
| 536 | { |
| 537 | state[32] = state[32] + mag; |
| 538 | state[33] = state[33] - 0.875 * mag; |
| 539 | } |
| 540 | |
| 541 | static void perturbState_8_0(double mag, double *state) |
| 542 | { |
| 543 | state[34] = state[34] + mag; |
| 544 | } |
| 545 | |
| 546 | static void perturbState_8_0v(double mag, double *state) |
| 547 | { |
| 548 | state[34] = state[34] + mag; |
| 549 | state[35] = state[35] - 0.875 * mag; |
| 550 | } |
| 551 | |
| 552 | static void perturbState_9_0(double mag, double *state) |
| 553 | { |
| 554 | state[36] = state[36] + mag; |
| 555 | } |
| 556 | |
| 557 | static void perturbState_9_0v(double mag, double *state) |
| 558 | { |
| 559 | state[36] = state[36] + mag; |
| 560 | state[37] = state[37] - 0.875 * mag; |
| 561 | } |
| 562 | |
| 563 | static void perturbState_10_0(double mag, double *state) |
| 564 | { |
| 565 | state[38] = state[38] + mag; |
| 566 | } |
| 567 | |
| 568 | static void perturbState_10_0v(double mag, double *state) |
| 569 | { |
| 570 | state[38] = state[38] + mag; |
| 571 | state[39] = state[39] - 0.875 * mag; |
| 572 | } |
| 573 | |
| 574 | static void perturbState_11_0(double mag, double *state) |
| 575 | { |
| 576 | state[40] = state[40] + mag; |
| 577 | } |
| 578 | |
| 579 | static void perturbState_11_0v(double mag, double *state) |
| 580 | { |
| 581 | state[40] = state[40] + mag; |
| 582 | state[41] = state[41] - 0.875 * mag; |
| 583 | } |
| 584 | |
| 585 | static void perturbState_12_0(double mag, double *state) |
| 586 | { |
| 587 | state[42] = state[42] + mag; |
| 588 | } |
| 589 | |
| 590 | static void perturbState_12_0v(double mag, double *state) |
| 591 | { |
| 592 | state[42] = state[42] + mag; |
| 593 | state[43] = state[43] - 0.875 * mag; |
| 594 | } |
| 595 | |
| 596 | static void perturbState_13_0(double mag, double *state) |
| 597 | { |
| 598 | state[44] = state[44] + mag; |
| 599 | } |
| 600 | |
| 601 | static void perturbState_13_0v(double mag, double *state) |
| 602 | { |
| 603 | state[44] = state[44] + mag; |
| 604 | state[45] = state[45] - 0.875 * mag; |
| 605 | } |
| 606 | |
| 607 | static void perturbState_14_0(double mag, double *state) |
| 608 | { |
| 609 | double xx[14]; |
| 610 | xx[0] = 0.5 * mag; |
| 611 | xx[1] = fabs(mag); |
| 612 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 613 | xx[1] = sin(xx[2]); |
| 614 | xx[3] = cos(xx[2]); |
| 615 | xx[4] = sin(2.0 * xx[2]); |
| 616 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 617 | xx[5] = sin(xx[0]); |
| 618 | xx[6] = cos(xx[0]); |
| 619 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 620 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 621 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 622 | xx[0] = state[46]; |
| 623 | xx[1] = state[47]; |
| 624 | xx[2] = state[48]; |
| 625 | xx[3] = state[49]; |
| 626 | pm_math_quatCompose(xx + 6, xx + 0, xx + 10); |
| 627 | state[46] = xx[10]; |
| 628 | state[47] = xx[11]; |
| 629 | state[48] = xx[12]; |
| 630 | state[49] = xx[13]; |
| 631 | } |
| 632 | |
| 633 | static void perturbState_14_0v(double mag, double *state) |
| 634 | { |
| 635 | double xx[14]; |
| 636 | xx[0] = 0.5 * mag; |
| 637 | xx[1] = fabs(mag); |
| 638 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 639 | xx[1] = sin(xx[2]); |
| 640 | xx[3] = cos(xx[2]); |
| 641 | xx[4] = sin(2.0 * xx[2]); |
| 642 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 643 | xx[5] = sin(xx[0]); |
| 644 | xx[6] = cos(xx[0]); |
| 645 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 646 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 647 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 648 | xx[1] = state[46]; |
| 649 | xx[2] = state[47]; |
| 650 | xx[3] = state[48]; |
| 651 | xx[4] = state[49]; |
| 652 | pm_math_quatCompose(xx + 6, xx + 1, xx + 10); |
| 653 | state[46] = xx[10]; |
| 654 | state[47] = xx[11]; |
| 655 | state[48] = xx[12]; |
| 656 | state[49] = xx[13]; |
| 657 | state[50] = state[50] + 1.2 * mag; |
| 658 | state[51] = state[51] - xx[0]; |
| 659 | state[52] = state[52] + 0.9 * mag; |
| 660 | } |
| 661 | |
| 662 | static void perturbState_15_0(double mag, double *state) |
| 663 | { |
| 664 | state[53] = state[53] + mag; |
| 665 | } |
| 666 | |
| 667 | static void perturbState_15_0v(double mag, double *state) |
| 668 | { |
| 669 | state[53] = state[53] + mag; |
| 670 | state[54] = state[54] - 0.875 * mag; |
| 671 | } |
| 672 | |
| 673 | static void perturbState_16_0(double mag, double *state) |
| 674 | { |
| 675 | state[55] = state[55] + mag; |
| 676 | } |
| 677 | |
| 678 | static void perturbState_16_0v(double mag, double *state) |
| 679 | { |
| 680 | state[55] = state[55] + mag; |
| 681 | state[56] = state[56] - 0.875 * mag; |
| 682 | } |
| 683 | |
| 684 | static void perturbState_17_0(double mag, double *state) |
| 685 | { |
| 686 | double xx[14]; |
| 687 | xx[0] = 0.5 * mag; |
| 688 | xx[1] = fabs(mag); |
| 689 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 690 | xx[1] = sin(xx[2]); |
| 691 | xx[3] = cos(xx[2]); |
| 692 | xx[4] = sin(2.0 * xx[2]); |
| 693 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 694 | xx[5] = sin(xx[0]); |
| 695 | xx[6] = cos(xx[0]); |
| 696 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 697 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 698 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 699 | xx[0] = state[57]; |
| 700 | xx[1] = state[58]; |
| 701 | xx[2] = state[59]; |
| 702 | xx[3] = state[60]; |
| 703 | pm_math_quatCompose(xx + 6, xx + 0, xx + 10); |
| 704 | state[57] = xx[10]; |
| 705 | state[58] = xx[11]; |
| 706 | state[59] = xx[12]; |
| 707 | state[60] = xx[13]; |
| 708 | } |
| 709 | |
| 710 | static void perturbState_17_0v(double mag, double *state) |
| 711 | { |
| 712 | double xx[14]; |
| 713 | xx[0] = 0.5 * mag; |
| 714 | xx[1] = fabs(mag); |
| 715 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 716 | xx[1] = sin(xx[2]); |
| 717 | xx[3] = cos(xx[2]); |
| 718 | xx[4] = sin(2.0 * xx[2]); |
| 719 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 720 | xx[5] = sin(xx[0]); |
| 721 | xx[6] = cos(xx[0]); |
| 722 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 723 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 724 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 725 | xx[1] = state[57]; |
| 726 | xx[2] = state[58]; |
| 727 | xx[3] = state[59]; |
| 728 | xx[4] = state[60]; |
| 729 | pm_math_quatCompose(xx + 6, xx + 1, xx + 10); |
| 730 | state[57] = xx[10]; |
| 731 | state[58] = xx[11]; |
| 732 | state[59] = xx[12]; |
| 733 | state[60] = xx[13]; |
| 734 | state[61] = state[61] + 1.2 * mag; |
| 735 | state[62] = state[62] - xx[0]; |
| 736 | state[63] = state[63] + 0.9 * mag; |
| 737 | } |
| 738 | |
| 739 | static void perturbState_18_0(double mag, double *state) |
| 740 | { |
| 741 | state[64] = state[64] + mag; |
| 742 | } |
| 743 | |
| 744 | static void perturbState_18_0v(double mag, double *state) |
| 745 | { |
| 746 | state[64] = state[64] + mag; |
| 747 | state[65] = state[65] - 0.875 * mag; |
| 748 | } |
| 749 | |
| 750 | static void perturbState_19_0(double mag, double *state) |
| 751 | { |
| 752 | state[66] = state[66] + mag; |
| 753 | } |
| 754 | |
| 755 | static void perturbState_19_0v(double mag, double *state) |
| 756 | { |
| 757 | state[66] = state[66] + mag; |
| 758 | state[67] = state[67] - 0.875 * mag; |
| 759 | } |
| 760 | |
| 761 | static void perturbState_20_0(double mag, double *state) |
| 762 | { |
| 763 | double xx[14]; |
| 764 | xx[0] = 0.5 * mag; |
| 765 | xx[1] = fabs(mag); |
| 766 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 767 | xx[1] = sin(xx[2]); |
| 768 | xx[3] = cos(xx[2]); |
| 769 | xx[4] = sin(2.0 * xx[2]); |
| 770 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 771 | xx[5] = sin(xx[0]); |
| 772 | xx[6] = cos(xx[0]); |
| 773 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 774 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 775 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 776 | xx[0] = state[68]; |
| 777 | xx[1] = state[69]; |
| 778 | xx[2] = state[70]; |
| 779 | xx[3] = state[71]; |
| 780 | pm_math_quatCompose(xx + 6, xx + 0, xx + 10); |
| 781 | state[68] = xx[10]; |
| 782 | state[69] = xx[11]; |
| 783 | state[70] = xx[12]; |
| 784 | state[71] = xx[13]; |
| 785 | } |
| 786 | |
| 787 | static void perturbState_20_0v(double mag, double *state) |
| 788 | { |
| 789 | double xx[14]; |
| 790 | xx[0] = 0.5 * mag; |
| 791 | xx[1] = fabs(mag); |
| 792 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 793 | xx[1] = sin(xx[2]); |
| 794 | xx[3] = cos(xx[2]); |
| 795 | xx[4] = sin(2.0 * xx[2]); |
| 796 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 797 | xx[5] = sin(xx[0]); |
| 798 | xx[6] = cos(xx[0]); |
| 799 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 800 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 801 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 802 | xx[1] = state[68]; |
| 803 | xx[2] = state[69]; |
| 804 | xx[3] = state[70]; |
| 805 | xx[4] = state[71]; |
| 806 | pm_math_quatCompose(xx + 6, xx + 1, xx + 10); |
| 807 | state[68] = xx[10]; |
| 808 | state[69] = xx[11]; |
| 809 | state[70] = xx[12]; |
| 810 | state[71] = xx[13]; |
| 811 | state[72] = state[72] + 1.2 * mag; |
| 812 | state[73] = state[73] - xx[0]; |
| 813 | state[74] = state[74] + 0.9 * mag; |
| 814 | } |
| 815 | |
| 816 | static void perturbState_21_0(double mag, double *state) |
| 817 | { |
| 818 | state[75] = state[75] + mag; |
| 819 | } |
| 820 | |
| 821 | static void perturbState_21_0v(double mag, double *state) |
| 822 | { |
| 823 | state[75] = state[75] + mag; |
| 824 | state[76] = state[76] - 0.875 * mag; |
| 825 | } |
| 826 | |
| 827 | static void perturbState_22_0(double mag, double *state) |
| 828 | { |
| 829 | state[77] = state[77] + mag; |
| 830 | } |
| 831 | |
| 832 | static void perturbState_22_0v(double mag, double *state) |
| 833 | { |
| 834 | state[77] = state[77] + mag; |
| 835 | state[78] = state[78] - 0.875 * mag; |
| 836 | } |
| 837 | |
| 838 | static void perturbState_23_0(double mag, double *state) |
| 839 | { |
| 840 | double xx[14]; |
| 841 | xx[0] = 0.5 * mag; |
| 842 | xx[1] = fabs(mag); |
| 843 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 844 | xx[1] = sin(xx[2]); |
| 845 | xx[3] = cos(xx[2]); |
| 846 | xx[4] = sin(2.0 * xx[2]); |
| 847 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 848 | xx[5] = sin(xx[0]); |
| 849 | xx[6] = cos(xx[0]); |
| 850 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 851 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 852 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 853 | xx[0] = state[79]; |
| 854 | xx[1] = state[80]; |
| 855 | xx[2] = state[81]; |
| 856 | xx[3] = state[82]; |
| 857 | pm_math_quatCompose(xx + 6, xx + 0, xx + 10); |
| 858 | state[79] = xx[10]; |
| 859 | state[80] = xx[11]; |
| 860 | state[81] = xx[12]; |
| 861 | state[82] = xx[13]; |
| 862 | } |
| 863 | |
| 864 | static void perturbState_23_0v(double mag, double *state) |
| 865 | { |
| 866 | double xx[14]; |
| 867 | xx[0] = 0.5 * mag; |
| 868 | xx[1] = fabs(mag); |
| 869 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 870 | xx[1] = sin(xx[2]); |
| 871 | xx[3] = cos(xx[2]); |
| 872 | xx[4] = sin(2.0 * xx[2]); |
| 873 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 874 | xx[5] = sin(xx[0]); |
| 875 | xx[6] = cos(xx[0]); |
| 876 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 877 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 878 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 879 | xx[1] = state[79]; |
| 880 | xx[2] = state[80]; |
| 881 | xx[3] = state[81]; |
| 882 | xx[4] = state[82]; |
| 883 | pm_math_quatCompose(xx + 6, xx + 1, xx + 10); |
| 884 | state[79] = xx[10]; |
| 885 | state[80] = xx[11]; |
| 886 | state[81] = xx[12]; |
| 887 | state[82] = xx[13]; |
| 888 | state[83] = state[83] + 1.2 * mag; |
| 889 | state[84] = state[84] - xx[0]; |
| 890 | state[85] = state[85] + 0.9 * mag; |
| 891 | } |
| 892 | |
| 893 | static void perturbState_24_0(double mag, double *state) |
| 894 | { |
| 895 | state[86] = state[86] + mag; |
| 896 | } |
| 897 | |
| 898 | static void perturbState_24_0v(double mag, double *state) |
| 899 | { |
| 900 | state[86] = state[86] + mag; |
| 901 | state[87] = state[87] - 0.875 * mag; |
| 902 | } |
| 903 | |
| 904 | static void perturbState_25_0(double mag, double *state) |
| 905 | { |
| 906 | state[88] = state[88] + mag; |
| 907 | } |
| 908 | |
| 909 | static void perturbState_25_0v(double mag, double *state) |
| 910 | { |
| 911 | state[88] = state[88] + mag; |
| 912 | state[89] = state[89] - 0.875 * mag; |
| 913 | } |
| 914 | |
| 915 | static void perturbState_26_0(double mag, double *state) |
| 916 | { |
| 917 | double xx[14]; |
| 918 | xx[0] = 0.5 * mag; |
| 919 | xx[1] = fabs(mag); |
| 920 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 921 | xx[1] = sin(xx[2]); |
| 922 | xx[3] = cos(xx[2]); |
| 923 | xx[4] = sin(2.0 * xx[2]); |
| 924 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 925 | xx[5] = sin(xx[0]); |
| 926 | xx[6] = cos(xx[0]); |
| 927 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 928 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 929 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 930 | xx[0] = state[90]; |
| 931 | xx[1] = state[91]; |
| 932 | xx[2] = state[92]; |
| 933 | xx[3] = state[93]; |
| 934 | pm_math_quatCompose(xx + 6, xx + 0, xx + 10); |
| 935 | state[90] = xx[10]; |
| 936 | state[91] = xx[11]; |
| 937 | state[92] = xx[12]; |
| 938 | state[93] = xx[13]; |
| 939 | } |
| 940 | |
| 941 | static void perturbState_26_0v(double mag, double *state) |
| 942 | { |
| 943 | double xx[14]; |
| 944 | xx[0] = 0.5 * mag; |
| 945 | xx[1] = fabs(mag); |
| 946 | xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9); |
| 947 | xx[1] = sin(xx[2]); |
| 948 | xx[3] = cos(xx[2]); |
| 949 | xx[4] = sin(2.0 * xx[2]); |
| 950 | xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]); |
| 951 | xx[5] = sin(xx[0]); |
| 952 | xx[6] = cos(xx[0]); |
| 953 | xx[7] = xx[1] / xx[2] * xx[5]; |
| 954 | xx[8] = xx[3] / xx[2] * xx[5]; |
| 955 | xx[9] = xx[4] / xx[2] * xx[5]; |
| 956 | xx[1] = state[90]; |
| 957 | xx[2] = state[91]; |
| 958 | xx[3] = state[92]; |
| 959 | xx[4] = state[93]; |
| 960 | pm_math_quatCompose(xx + 6, xx + 1, xx + 10); |
| 961 | state[90] = xx[10]; |
| 962 | state[91] = xx[11]; |
| 963 | state[92] = xx[12]; |
| 964 | state[93] = xx[13]; |
| 965 | state[94] = state[94] + 1.2 * mag; |
| 966 | state[95] = state[95] - xx[0]; |
| 967 | state[96] = state[96] + 0.9 * mag; |
| 968 | } |
| 969 | |
| 970 | void PlatformAssem_f0ca4364_1_perturbState(const void *mech, size_t stageIdx, |
| 971 | size_t primIdx, double mag, boolean_T doPerturbVelocity, double *state) |
| 972 | { |
| 973 | (void) mech; |
| 974 | (void) stageIdx; |
| 975 | (void) primIdx; |
| 976 | (void) mag; |
| 977 | (void) doPerturbVelocity; |
| 978 | (void) state; |
| 979 | switch ((stageIdx * 6 + primIdx) * 2 + (doPerturbVelocity ? 1 : 0)) |
| 980 | { |
| 981 | case 0: |
| 982 | perturbState_0_0(mag, state); |
| 983 | break; |
| 984 | |
| 985 | case 1: |
| 986 | perturbState_0_0v(mag, state); |
| 987 | break; |
| 988 | |
| 989 | case 2: |
| 990 | perturbState_0_1(mag, state); |
| 991 | break; |
| 992 | |
| 993 | case 3: |
| 994 | perturbState_0_1v(mag, state); |
| 995 | break; |
| 996 | |
| 997 | case 4: |
| 998 | perturbState_0_2(mag, state); |
| 999 | break; |
| 1000 | |
| 1001 | case 5: |
| 1002 | perturbState_0_2v(mag, state); |
| 1003 | break; |
| 1004 | |
| 1005 | case 12: |
| 1006 | perturbState_1_0(mag, state); |
| 1007 | break; |
| 1008 | |
| 1009 | case 13: |
| 1010 | perturbState_1_0v(mag, state); |
| 1011 | break; |
| 1012 | |
| 1013 | case 14: |
| 1014 | perturbState_1_1(mag, state); |
| 1015 | break; |
| 1016 | |
| 1017 | case 15: |
| 1018 | perturbState_1_1v(mag, state); |
| 1019 | break; |
| 1020 | |
| 1021 | case 16: |
| 1022 | perturbState_1_2(mag, state); |
| 1023 | break; |
| 1024 | |
| 1025 | case 17: |
| 1026 | perturbState_1_2v(mag, state); |
| 1027 | break; |
| 1028 | |
| 1029 | case 24: |
| 1030 | perturbState_2_0(mag, state); |
| 1031 | break; |
| 1032 | |
| 1033 | case 25: |
| 1034 | perturbState_2_0v(mag, state); |
| 1035 | break; |
| 1036 | |
| 1037 | case 36: |
| 1038 | perturbState_3_0(mag, state); |
| 1039 | break; |
| 1040 | |
| 1041 | case 37: |
| 1042 | perturbState_3_0v(mag, state); |
| 1043 | break; |
| 1044 | |
| 1045 | case 48: |
| 1046 | perturbState_4_0(mag, state); |
| 1047 | break; |
| 1048 | |
| 1049 | case 49: |
| 1050 | perturbState_4_0v(mag, state); |
| 1051 | break; |
| 1052 | |
| 1053 | case 60: |
| 1054 | perturbState_5_0(mag, state); |
| 1055 | break; |
| 1056 | |
| 1057 | case 61: |
| 1058 | perturbState_5_0v(mag, state); |
| 1059 | break; |
| 1060 | |
| 1061 | case 72: |
| 1062 | perturbState_6_0(mag, state); |
| 1063 | break; |
| 1064 | |
| 1065 | case 73: |
| 1066 | perturbState_6_0v(mag, state); |
| 1067 | break; |
| 1068 | |
| 1069 | case 84: |
| 1070 | perturbState_7_0(mag, state); |
| 1071 | break; |
| 1072 | |
| 1073 | case 85: |
| 1074 | perturbState_7_0v(mag, state); |
| 1075 | break; |
| 1076 | |
| 1077 | case 96: |
| 1078 | perturbState_8_0(mag, state); |
| 1079 | break; |
| 1080 | |
| 1081 | case 97: |
| 1082 | perturbState_8_0v(mag, state); |
| 1083 | break; |
| 1084 | |
| 1085 | case 108: |
| 1086 | perturbState_9_0(mag, state); |
| 1087 | break; |
| 1088 | |
| 1089 | case 109: |
| 1090 | perturbState_9_0v(mag, state); |
| 1091 | break; |
| 1092 | |
| 1093 | case 120: |
| 1094 | perturbState_10_0(mag, state); |
| 1095 | break; |
| 1096 | |
| 1097 | case 121: |
| 1098 | perturbState_10_0v(mag, state); |
| 1099 | break; |
| 1100 | |
| 1101 | case 132: |
| 1102 | perturbState_11_0(mag, state); |
| 1103 | break; |
| 1104 | |
| 1105 | case 133: |
| 1106 | perturbState_11_0v(mag, state); |
| 1107 | break; |
| 1108 | |
| 1109 | case 144: |
| 1110 | perturbState_12_0(mag, state); |
| 1111 | break; |
| 1112 | |
| 1113 | case 145: |
| 1114 | perturbState_12_0v(mag, state); |
| 1115 | break; |
| 1116 | |
| 1117 | case 156: |
| 1118 | perturbState_13_0(mag, state); |
| 1119 | break; |
| 1120 | |
| 1121 | case 157: |
| 1122 | perturbState_13_0v(mag, state); |
| 1123 | break; |
| 1124 | |
| 1125 | case 168: |
| 1126 | perturbState_14_0(mag, state); |
| 1127 | break; |
| 1128 | |
| 1129 | case 169: |
| 1130 | perturbState_14_0v(mag, state); |
| 1131 | break; |
| 1132 | |
| 1133 | case 180: |
| 1134 | perturbState_15_0(mag, state); |
| 1135 | break; |
| 1136 | |
| 1137 | case 181: |
| 1138 | perturbState_15_0v(mag, state); |
| 1139 | break; |
| 1140 | |
| 1141 | case 192: |
| 1142 | perturbState_16_0(mag, state); |
| 1143 | break; |
| 1144 | |
| 1145 | case 193: |
| 1146 | perturbState_16_0v(mag, state); |
| 1147 | break; |
| 1148 | |
| 1149 | case 204: |
| 1150 | perturbState_17_0(mag, state); |
| 1151 | break; |
| 1152 | |
| 1153 | case 205: |
| 1154 | perturbState_17_0v(mag, state); |
| 1155 | break; |
| 1156 | |
| 1157 | case 216: |
| 1158 | perturbState_18_0(mag, state); |
| 1159 | break; |
| 1160 | |
| 1161 | case 217: |
| 1162 | perturbState_18_0v(mag, state); |
| 1163 | break; |
| 1164 | |
| 1165 | case 228: |
| 1166 | perturbState_19_0(mag, state); |
| 1167 | break; |
| 1168 | |
| 1169 | case 229: |
| 1170 | perturbState_19_0v(mag, state); |
| 1171 | break; |
| 1172 | |
| 1173 | case 240: |
| 1174 | perturbState_20_0(mag, state); |
| 1175 | break; |
| 1176 | |
| 1177 | case 241: |
| 1178 | perturbState_20_0v(mag, state); |
| 1179 | break; |
| 1180 | |
| 1181 | case 252: |
| 1182 | perturbState_21_0(mag, state); |
| 1183 | break; |
| 1184 | |
| 1185 | case 253: |
| 1186 | perturbState_21_0v(mag, state); |
| 1187 | break; |
| 1188 | |
| 1189 | case 264: |
| 1190 | perturbState_22_0(mag, state); |
| 1191 | break; |
| 1192 | |
| 1193 | case 265: |
| 1194 | perturbState_22_0v(mag, state); |
| 1195 | break; |
| 1196 | |
| 1197 | case 276: |
| 1198 | perturbState_23_0(mag, state); |
| 1199 | break; |
| 1200 | |
| 1201 | case 277: |
| 1202 | perturbState_23_0v(mag, state); |
| 1203 | break; |
| 1204 | |
| 1205 | case 288: |
| 1206 | perturbState_24_0(mag, state); |
| 1207 | break; |
| 1208 | |
| 1209 | case 289: |
| 1210 | perturbState_24_0v(mag, state); |
| 1211 | break; |
| 1212 | |
| 1213 | case 300: |
| 1214 | perturbState_25_0(mag, state); |
| 1215 | break; |
| 1216 | |
| 1217 | case 301: |
| 1218 | perturbState_25_0v(mag, state); |
| 1219 | break; |
| 1220 | |
| 1221 | case 312: |
| 1222 | perturbState_26_0(mag, state); |
| 1223 | break; |
| 1224 | |
| 1225 | case 313: |
| 1226 | perturbState_26_0v(mag, state); |
| 1227 | break; |
| 1228 | } |
| 1229 | } |
| 1230 | |
| 1231 | void PlatformAssem_f0ca4364_1_computeDofBlendMatrix(const void *mech, size_t |
| 1232 | stageIdx, size_t primIdx, const double *state, int partialType, double *matrix) |
| 1233 | { |
| 1234 | (void) mech; |
| 1235 | (void) stageIdx; |
| 1236 | (void) primIdx; |
| 1237 | (void) state; |
| 1238 | (void) partialType; |
| 1239 | (void) matrix; |
| 1240 | switch ((stageIdx * 6 + primIdx)) |
| 1241 | { |
| 1242 | } |
| 1243 | } |
| 1244 | |
| 1245 | void PlatformAssem_f0ca4364_1_projectPartiallyTargetedPos(const void *mech, |
| 1246 | size_t stageIdx, size_t primIdx, const double *origState, int partialType, |
| 1247 | double *state) |
| 1248 | { |
| 1249 | (void) mech; |
| 1250 | (void) stageIdx; |
| 1251 | (void) primIdx; |
| 1252 | (void) origState; |
| 1253 | (void) partialType; |
| 1254 | (void) state; |
| 1255 | switch ((stageIdx * 6 + primIdx)) |
| 1256 | { |
| 1257 | } |
| 1258 | } |
| 1259 | |
| 1260 | void PlatformAssem_f0ca4364_1_propagateMotion(const void *mech, const double |
| 1261 | *rtdv, const double *state, double *motionData) |
| 1262 | { |
| 1263 | double xx[691]; |
| 1264 | (void) mech; |
| 1265 | (void) rtdv; |
| 1266 | xx[0] = 0.0; |
| 1267 | xx[1] = 0.7071067811865476; |
| 1268 | xx[2] = - xx[1]; |
| 1269 | xx[3] = 0.9982060081755033; |
| 1270 | xx[4] = 0.5; |
| 1271 | xx[5] = xx[4] * state[6]; |
| 1272 | xx[6] = cos(xx[5]); |
| 1273 | xx[7] = 7.822272946646824e-7; |
| 1274 | xx[8] = sin(xx[5]); |
| 1275 | xx[5] = 0.05987290897428056; |
| 1276 | xx[9] = 3.559887592452546e-6; |
| 1277 | xx[10] = - (xx[3] * xx[6] + xx[7] * xx[8]); |
| 1278 | xx[11] = xx[7] * xx[6] - xx[3] * xx[8]; |
| 1279 | xx[12] = - (xx[5] * xx[6] + xx[9] * xx[8]); |
| 1280 | xx[13] = xx[9] * xx[6] - xx[5] * xx[8]; |
| 1281 | xx[3] = xx[4] * state[7]; |
| 1282 | xx[5] = 7.200670813652432e-6; |
| 1283 | xx[6] = sin(xx[3]); |
| 1284 | xx[7] = 0.9999999999734306; |
| 1285 | xx[8] = 1.135366319023148e-6; |
| 1286 | xx[14] = cos(xx[3]); |
| 1287 | xx[15] = - (xx[5] * xx[6]); |
| 1288 | xx[16] = xx[7] * xx[6]; |
| 1289 | xx[17] = xx[8] * xx[6]; |
| 1290 | pm_math_quatCompose(xx + 10, xx + 14, xx + 18); |
| 1291 | xx[3] = xx[4] * state[8]; |
| 1292 | xx[6] = 0.1195309949245745; |
| 1293 | xx[9] = sin(xx[3]); |
| 1294 | xx[10] = 1.987929622149476e-6; |
| 1295 | xx[11] = 0.9928304695406913; |
| 1296 | xx[12] = cos(xx[3]); |
| 1297 | xx[13] = - (xx[6] * xx[9]); |
| 1298 | xx[14] = - (xx[10] * xx[9]); |
| 1299 | xx[15] = xx[11] * xx[9]; |
| 1300 | pm_math_quatCompose(xx + 18, xx + 12, xx + 22); |
| 1301 | xx[16] = 2.651074505488933e-6; |
| 1302 | xx[17] = - 0.01576192360860613; |
| 1303 | xx[18] = 1.370770141144085e-6; |
| 1304 | pm_math_quatXform(xx + 22, xx + 16, xx + 19); |
| 1305 | xx[3] = 0.3895853754265615; |
| 1306 | xx[9] = xx[4] * state[12]; |
| 1307 | xx[26] = cos(xx[9]); |
| 1308 | xx[27] = 0.389581900177037; |
| 1309 | xx[28] = sin(xx[9]); |
| 1310 | xx[9] = xx[3] * xx[26] - xx[27] * xx[28]; |
| 1311 | xx[29] = 0.5901074779979933; |
| 1312 | xx[30] = 0.5901036711621462; |
| 1313 | xx[31] = xx[29] * xx[26] + xx[30] * xx[28]; |
| 1314 | xx[32] = - xx[31]; |
| 1315 | xx[33] = xx[30] * xx[26] - xx[29] * xx[28]; |
| 1316 | xx[29] = xx[27] * xx[26] + xx[3] * xx[28]; |
| 1317 | xx[3] = - xx[29]; |
| 1318 | xx[26] = 1.587500000000011e-3; |
| 1319 | xx[27] = xx[33] * xx[26]; |
| 1320 | xx[34] = xx[32]; |
| 1321 | xx[35] = xx[33]; |
| 1322 | xx[36] = xx[3]; |
| 1323 | xx[28] = 0.02520954632904373; |
| 1324 | xx[30] = xx[28] * xx[29] + xx[26] * xx[31]; |
| 1325 | xx[37] = xx[33] * xx[28]; |
| 1326 | xx[38] = xx[27]; |
| 1327 | xx[39] = xx[30]; |
| 1328 | xx[40] = xx[37]; |
| 1329 | pm_math_cross3(xx + 34, xx + 38, xx + 41); |
| 1330 | xx[34] = 2.0; |
| 1331 | xx[35] = 0.1564468326892218 - ((xx[9] * xx[27] + xx[41]) * xx[34] - xx[28]); |
| 1332 | xx[27] = 0.02992367610368172 - (xx[9] * xx[30] + xx[42]) * xx[34]; |
| 1333 | xx[30] = 0.01163189793971064 + xx[26] + xx[34] * (xx[43] + xx[9] * xx[37]); |
| 1334 | xx[36] = - xx[30]; |
| 1335 | xx[37] = xx[4] * state[14]; |
| 1336 | xx[38] = cos(xx[37]); |
| 1337 | xx[39] = sin(xx[37]); |
| 1338 | xx[37] = 5.376764528053357e-12; |
| 1339 | xx[40] = 7.748428954013064e-12; |
| 1340 | xx[41] = xx[37] * xx[38] + xx[40] * xx[39]; |
| 1341 | xx[42] = 0.03194045367095624 - (xx[34] * xx[41] * xx[39] - xx[40]); |
| 1342 | xx[43] = xx[34] * xx[41] * xx[38] - xx[37]; |
| 1343 | xx[41] = - xx[43]; |
| 1344 | xx[44] = 4.0000000045273e-3; |
| 1345 | xx[45] = xx[26] - (xx[44] - (xx[38] * xx[44] * xx[38] + xx[44] * xx[39] * xx |
| 1346 | [39]) * xx[34]); |
| 1347 | xx[44] = 3.980251324392935e-7; |
| 1348 | xx[46] = 0.999999999999921; |
| 1349 | xx[47] = xx[44] * state[19] - xx[46] * state[16]; |
| 1350 | xx[48] = - (xx[44] * state[18] + xx[46] * state[17]); |
| 1351 | xx[49] = - (xx[46] * state[18] - xx[44] * state[17]); |
| 1352 | xx[50] = - (xx[44] * state[16] + xx[46] * state[19]); |
| 1353 | xx[51] = 3.641162862673871e-8; |
| 1354 | xx[52] = 0.04575000000717538; |
| 1355 | xx[53] = - 2.926046524752066e-7; |
| 1356 | pm_math_quatXform(xx + 47, xx + 51, xx + 54); |
| 1357 | xx[57] = 3.980251340548381e-7; |
| 1358 | xx[58] = xx[46] * state[26] - xx[57] * state[23]; |
| 1359 | xx[59] = xx[46] * state[25] - xx[57] * state[24]; |
| 1360 | xx[60] = xx[57] * state[25] + xx[46] * state[24]; |
| 1361 | xx[61] = - xx[60]; |
| 1362 | xx[62] = xx[57] * state[26] + xx[46] * state[23]; |
| 1363 | xx[57] = - xx[62]; |
| 1364 | xx[63] = xx[58]; |
| 1365 | xx[64] = xx[59]; |
| 1366 | xx[65] = xx[61]; |
| 1367 | xx[66] = xx[57]; |
| 1368 | xx[67] = 7.599121945184391e-12; |
| 1369 | xx[68] = - 5.036130209737022e-12; |
| 1370 | xx[69] = 5.192027881355888e-12; |
| 1371 | pm_math_quatXform(xx + 63, xx + 67, xx + 70); |
| 1372 | xx[73] = 3.641924106626229e-8 + xx[70]; |
| 1373 | xx[74] = 0.04574999999998041 + xx[71]; |
| 1374 | xx[70] = 2.92603149291605e-7 + xx[72]; |
| 1375 | xx[71] = xx[4] * state[30]; |
| 1376 | xx[72] = cos(xx[71]); |
| 1377 | xx[75] = sin(xx[71]); |
| 1378 | xx[71] = 0.02540000000000185; |
| 1379 | xx[76] = xx[71] * xx[75]; |
| 1380 | xx[77] = 6.817225262079063e-12 + xx[71] - xx[34] * xx[76] * xx[75]; |
| 1381 | xx[78] = - xx[77]; |
| 1382 | xx[79] = 5.61723311615081e-12 + xx[34] * xx[72] * xx[76]; |
| 1383 | xx[76] = - xx[79]; |
| 1384 | xx[80] = 0.152426400001803; |
| 1385 | xx[81] = xx[4] * state[32]; |
| 1386 | xx[82] = cos(xx[81]); |
| 1387 | xx[83] = sin(xx[81]); |
| 1388 | xx[81] = 2.191920996097441e-12; |
| 1389 | xx[84] = xx[81] * xx[83]; |
| 1390 | xx[85] = 3.368449963403463e-13; |
| 1391 | xx[86] = xx[85] * xx[83]; |
| 1392 | xx[87] = 0.02539999999999815 + xx[34] * (xx[82] * xx[84] + xx[86] * xx[83]) - |
| 1393 | xx[85]; |
| 1394 | xx[88] = - xx[87]; |
| 1395 | xx[89] = xx[81] - (xx[84] * xx[83] - xx[82] * xx[86]) * xx[34]; |
| 1396 | xx[84] = - xx[89]; |
| 1397 | xx[86] = - 0.1524264000010511; |
| 1398 | xx[90] = 0.6123724356957949; |
| 1399 | xx[91] = xx[4] * state[34]; |
| 1400 | xx[92] = sin(xx[91]); |
| 1401 | xx[93] = xx[90] * xx[92]; |
| 1402 | xx[94] = cos(xx[91]); |
| 1403 | xx[91] = xx[90] * xx[94]; |
| 1404 | xx[95] = xx[93] - xx[91]; |
| 1405 | xx[96] = 0.3535533905932732; |
| 1406 | xx[97] = xx[96] * xx[94]; |
| 1407 | xx[94] = xx[96] * xx[92]; |
| 1408 | xx[92] = xx[97] + xx[94]; |
| 1409 | xx[98] = - xx[92]; |
| 1410 | xx[99] = xx[94] - xx[97]; |
| 1411 | xx[94] = xx[93] + xx[91]; |
| 1412 | xx[91] = - xx[94]; |
| 1413 | xx[100] = xx[95]; |
| 1414 | xx[101] = xx[98]; |
| 1415 | xx[102] = xx[99]; |
| 1416 | xx[103] = xx[91]; |
| 1417 | xx[93] = 1.121202762681406e-11; |
| 1418 | xx[97] = 6.145027516349377e-13; |
| 1419 | xx[104] = - xx[93]; |
| 1420 | xx[105] = - xx[97]; |
| 1421 | xx[106] = - 3.999999999522439e-3; |
| 1422 | pm_math_quatXform(xx + 100, xx + 104, xx + 107); |
| 1423 | xx[104] = 0.1412410329922704 - xx[107]; |
| 1424 | xx[105] = - xx[108]; |
| 1425 | xx[106] = 0.05221615474387575 - xx[109]; |
| 1426 | xx[107] = 0.3535533905932758; |
| 1427 | xx[109] = xx[4] * state[36]; |
| 1428 | xx[110] = cos(xx[109]); |
| 1429 | xx[111] = xx[107] * xx[110]; |
| 1430 | xx[112] = sin(xx[109]); |
| 1431 | xx[109] = xx[107] * xx[112]; |
| 1432 | xx[113] = xx[111] + xx[109]; |
| 1433 | xx[114] = - xx[113]; |
| 1434 | xx[115] = 0.6123724356957934; |
| 1435 | xx[116] = xx[115] * xx[112]; |
| 1436 | xx[112] = xx[115] * xx[110]; |
| 1437 | xx[110] = xx[116] - xx[112]; |
| 1438 | xx[117] = xx[112] + xx[116]; |
| 1439 | xx[112] = - xx[117]; |
| 1440 | xx[116] = xx[109] - xx[111]; |
| 1441 | xx[118] = xx[114]; |
| 1442 | xx[119] = xx[110]; |
| 1443 | xx[120] = xx[112]; |
| 1444 | xx[121] = xx[116]; |
| 1445 | xx[109] = 3.881762117297072e-12; |
| 1446 | xx[111] = 3.80025733104361e-12; |
| 1447 | xx[122] = xx[109]; |
| 1448 | xx[123] = - xx[111]; |
| 1449 | xx[124] = 3.999999998874377e-3; |
| 1450 | pm_math_quatXform(xx + 118, xx + 122, xx + 125); |
| 1451 | xx[122] = 0.1412410329922711 + xx[125]; |
| 1452 | xx[123] = - xx[122]; |
| 1453 | xx[124] = - xx[126]; |
| 1454 | xx[125] = 0.05221615474387407 - xx[127]; |
| 1455 | xx[127] = xx[4] * state[38]; |
| 1456 | xx[128] = cos(xx[127]); |
| 1457 | xx[129] = xx[107] * xx[128]; |
| 1458 | xx[130] = sin(xx[127]); |
| 1459 | xx[127] = xx[107] * xx[130]; |
| 1460 | xx[107] = xx[129] + xx[127]; |
| 1461 | xx[131] = xx[115] * xx[128]; |
| 1462 | xx[128] = xx[115] * xx[130]; |
| 1463 | xx[115] = xx[131] - xx[128]; |
| 1464 | xx[130] = xx[131] + xx[128]; |
| 1465 | xx[128] = xx[129] - xx[127]; |
| 1466 | xx[131] = xx[107]; |
| 1467 | xx[132] = xx[115]; |
| 1468 | xx[133] = xx[130]; |
| 1469 | xx[134] = xx[128]; |
| 1470 | xx[127] = 5.998698970888227e-12; |
| 1471 | xx[129] = 6.30935626036444e-12; |
| 1472 | xx[135] = - xx[127]; |
| 1473 | xx[136] = - xx[129]; |
| 1474 | xx[137] = 4.000000001735564e-3; |
| 1475 | pm_math_quatXform(xx + 131, xx + 135, xx + 138); |
| 1476 | xx[135] = 0.1158410329922713 + xx[138]; |
| 1477 | xx[136] = - xx[135]; |
| 1478 | xx[137] = - xx[139]; |
| 1479 | xx[138] = 0.09621024525612379 - xx[140]; |
| 1480 | xx[140] = xx[4] * state[40]; |
| 1481 | xx[141] = sin(xx[140]); |
| 1482 | xx[142] = xx[90] * xx[141]; |
| 1483 | xx[143] = cos(xx[140]); |
| 1484 | xx[140] = xx[90] * xx[143]; |
| 1485 | xx[90] = xx[142] - xx[140]; |
| 1486 | xx[144] = xx[96] * xx[143]; |
| 1487 | xx[143] = xx[96] * xx[141]; |
| 1488 | xx[96] = xx[144] + xx[143]; |
| 1489 | xx[141] = - xx[96]; |
| 1490 | xx[145] = xx[143] - xx[144]; |
| 1491 | xx[143] = xx[142] + xx[140]; |
| 1492 | xx[140] = - xx[143]; |
| 1493 | xx[146] = xx[90]; |
| 1494 | xx[147] = xx[141]; |
| 1495 | xx[148] = xx[145]; |
| 1496 | xx[149] = xx[140]; |
| 1497 | xx[142] = 7.483145982728478e-12; |
| 1498 | xx[144] = 5.088251355846174e-12; |
| 1499 | xx[150] = - xx[142]; |
| 1500 | xx[151] = xx[144]; |
| 1501 | xx[152] = - 4.00000000521855e-3; |
| 1502 | pm_math_quatXform(xx + 146, xx + 150, xx + 153); |
| 1503 | xx[150] = 0.1158410329922703 - xx[153]; |
| 1504 | xx[151] = - xx[154]; |
| 1505 | xx[152] = 0.09621024525612519 - xx[155]; |
| 1506 | xx[153] = 0.04233709306330295; |
| 1507 | xx[155] = xx[4] * state[42]; |
| 1508 | xx[156] = cos(xx[155]); |
| 1509 | xx[157] = 0.04233598682685397; |
| 1510 | xx[158] = sin(xx[155]); |
| 1511 | xx[155] = xx[153] * xx[156] + xx[157] * xx[158]; |
| 1512 | xx[159] = 0.7058357201813958; |
| 1513 | xx[160] = 0.7058407546227096; |
| 1514 | xx[161] = xx[159] * xx[158] - xx[160] * xx[156]; |
| 1515 | xx[162] = xx[159] * xx[156] + xx[160] * xx[158]; |
| 1516 | xx[163] = xx[153] * xx[158] - xx[157] * xx[156]; |
| 1517 | xx[156] = 1.5875e-3; |
| 1518 | xx[158] = xx[156] * xx[162]; |
| 1519 | xx[164] = xx[161] * xx[156] - xx[163] * xx[28]; |
| 1520 | xx[165] = xx[28] * xx[162]; |
| 1521 | xx[166] = - xx[158]; |
| 1522 | xx[167] = xx[164]; |
| 1523 | xx[168] = xx[165]; |
| 1524 | pm_math_cross3(xx + 161, xx + 166, xx + 169); |
| 1525 | xx[166] = 0.06820673750794114 + (xx[169] - xx[158] * xx[155]) * xx[34] - xx[28]; |
| 1526 | xx[158] = - xx[166]; |
| 1527 | xx[167] = 0.02992188481855372 - (xx[155] * xx[164] + xx[170]) * xx[34]; |
| 1528 | xx[164] = 0.1412955924490354 - (xx[34] * (xx[171] + xx[165] * xx[155]) - xx |
| 1529 | [156]); |
| 1530 | xx[165] = xx[4] * state[44]; |
| 1531 | xx[168] = cos(xx[165]); |
| 1532 | xx[169] = sin(xx[165]); |
| 1533 | xx[165] = 0.0319404536709563; |
| 1534 | xx[170] = 3.107391981487723e-12; |
| 1535 | xx[171] = 9.83617579279345e-12; |
| 1536 | xx[172] = xx[170] * xx[169] - xx[171] * xx[168]; |
| 1537 | xx[173] = xx[170] - xx[34] * xx[172] * xx[169]; |
| 1538 | xx[174] = xx[165] - xx[173]; |
| 1539 | xx[175] = xx[171] + xx[34] * xx[172] * xx[168]; |
| 1540 | xx[172] = 7.175000002356807e-3; |
| 1541 | xx[176] = (xx[168] * xx[172] * xx[168] + xx[172] * xx[169] * xx[169]) * xx[34] |
| 1542 | - xx[172]; |
| 1543 | xx[172] = xx[26] - xx[176]; |
| 1544 | xx[177] = xx[44] * state[49] - xx[46] * state[46]; |
| 1545 | xx[178] = xx[44] * state[48] + xx[46] * state[47]; |
| 1546 | xx[179] = - xx[178]; |
| 1547 | xx[180] = xx[46] * state[48] - xx[44] * state[47]; |
| 1548 | xx[181] = - xx[180]; |
| 1549 | xx[182] = xx[44] * state[46] + xx[46] * state[49]; |
| 1550 | xx[183] = - xx[182]; |
| 1551 | xx[184] = xx[177]; |
| 1552 | xx[185] = xx[179]; |
| 1553 | xx[186] = xx[181]; |
| 1554 | xx[187] = xx[183]; |
| 1555 | pm_math_quatXform(xx + 184, xx + 51, xx + 188); |
| 1556 | xx[191] = xx[4] * state[53]; |
| 1557 | xx[192] = cos(xx[191]); |
| 1558 | xx[193] = sin(xx[191]); |
| 1559 | xx[191] = xx[153] * xx[192] + xx[157] * xx[193]; |
| 1560 | xx[194] = xx[159] * xx[193] - xx[160] * xx[192]; |
| 1561 | xx[195] = xx[159] * xx[192] + xx[160] * xx[193]; |
| 1562 | xx[159] = xx[153] * xx[193] - xx[157] * xx[192]; |
| 1563 | xx[196] = xx[194]; |
| 1564 | xx[197] = xx[195]; |
| 1565 | xx[198] = xx[159]; |
| 1566 | xx[153] = xx[156] * xx[195]; |
| 1567 | xx[157] = 0.02520954632904374; |
| 1568 | xx[160] = xx[194] * xx[156] - xx[159] * xx[157]; |
| 1569 | xx[192] = xx[157] * xx[195]; |
| 1570 | xx[199] = - xx[153]; |
| 1571 | xx[200] = xx[160]; |
| 1572 | xx[201] = xx[192]; |
| 1573 | pm_math_cross3(xx + 196, xx + 199, xx + 202); |
| 1574 | xx[193] = 0.03266483819494233 - ((xx[202] - xx[153] * xx[191]) * xx[34] - xx |
| 1575 | [157]); |
| 1576 | xx[153] = 0.02992259737327991 - (xx[191] * xx[160] + xx[203]) * xx[34]; |
| 1577 | xx[160] = 0.1534399415345039 - (xx[34] * (xx[204] + xx[192] * xx[191]) - xx |
| 1578 | [156]); |
| 1579 | xx[156] = xx[4] * state[55]; |
| 1580 | xx[192] = cos(xx[156]); |
| 1581 | xx[196] = sin(xx[156]); |
| 1582 | xx[156] = 0.03194045367095631; |
| 1583 | xx[197] = 9.27756931389703e-12; |
| 1584 | xx[198] = 5.443558296964576e-12; |
| 1585 | xx[199] = xx[198] * xx[192] - xx[197] * xx[196]; |
| 1586 | xx[200] = xx[197] + xx[34] * xx[199] * xx[196]; |
| 1587 | xx[201] = xx[156] + xx[200]; |
| 1588 | xx[202] = xx[198] - xx[34] * xx[199] * xx[192]; |
| 1589 | xx[199] = - xx[202]; |
| 1590 | xx[203] = 7.174999998974562e-3; |
| 1591 | xx[204] = (xx[192] * xx[203] * xx[192] + xx[203] * xx[196] * xx[196]) * xx[34] |
| 1592 | - xx[203]; |
| 1593 | xx[203] = xx[26] - xx[204]; |
| 1594 | xx[205] = xx[44] * state[60] - xx[46] * state[57]; |
| 1595 | xx[206] = xx[44] * state[59] + xx[46] * state[58]; |
| 1596 | xx[207] = - xx[206]; |
| 1597 | xx[208] = xx[46] * state[59] - xx[44] * state[58]; |
| 1598 | xx[209] = - xx[208]; |
| 1599 | xx[210] = xx[44] * state[57] + xx[46] * state[60]; |
| 1600 | xx[211] = - xx[210]; |
| 1601 | xx[212] = xx[205]; |
| 1602 | xx[213] = xx[207]; |
| 1603 | xx[214] = xx[209]; |
| 1604 | xx[215] = xx[211]; |
| 1605 | pm_math_quatXform(xx + 212, xx + 51, xx + 216); |
| 1606 | xx[219] = 0.389585375426561; |
| 1607 | xx[220] = xx[4] * state[64]; |
| 1608 | xx[221] = cos(xx[220]); |
| 1609 | xx[222] = 0.3895819001770367; |
| 1610 | xx[223] = sin(xx[220]); |
| 1611 | xx[220] = xx[219] * xx[221] - xx[222] * xx[223]; |
| 1612 | xx[224] = 0.5901074779979936; |
| 1613 | xx[225] = 0.5901036711621467; |
| 1614 | xx[226] = xx[224] * xx[221] + xx[225] * xx[223]; |
| 1615 | xx[227] = - xx[226]; |
| 1616 | xx[228] = xx[225] * xx[221] - xx[224] * xx[223]; |
| 1617 | xx[224] = xx[222] * xx[221] + xx[219] * xx[223]; |
| 1618 | xx[219] = - xx[224]; |
| 1619 | xx[221] = xx[228] * xx[26]; |
| 1620 | xx[229] = xx[227]; |
| 1621 | xx[230] = xx[228]; |
| 1622 | xx[231] = xx[219]; |
| 1623 | xx[222] = xx[28] * xx[224] + xx[26] * xx[226]; |
| 1624 | xx[223] = xx[228] * xx[28]; |
| 1625 | pm_math_cross3(xx + 229, xx + 221, xx + 232); |
| 1626 | xx[225] = 0.1165527193553521 - ((xx[220] * xx[221] + xx[232]) * xx[34] - xx[28]); |
| 1627 | xx[221] = 0.02992349485130436 - (xx[220] * xx[222] + xx[233]) * xx[34]; |
| 1628 | xx[222] = 0.1050044054848736 + xx[26] + xx[34] * (xx[234] + xx[220] * xx[223]); |
| 1629 | xx[223] = - xx[222]; |
| 1630 | xx[229] = xx[4] * state[66]; |
| 1631 | xx[230] = cos(xx[229]); |
| 1632 | xx[231] = sin(xx[229]); |
| 1633 | xx[229] = 0.03194045367095626; |
| 1634 | xx[232] = 1.024070757638107e-11; |
| 1635 | xx[233] = 6.924287580811761e-12; |
| 1636 | xx[234] = xx[233] * xx[230] + xx[232] * xx[231]; |
| 1637 | xx[235] = xx[232] - xx[34] * xx[234] * xx[231]; |
| 1638 | xx[236] = xx[229] - xx[235]; |
| 1639 | xx[237] = xx[233] - xx[34] * xx[234] * xx[230]; |
| 1640 | xx[234] = - xx[237]; |
| 1641 | xx[238] = 4.000000007367204e-3; |
| 1642 | xx[239] = xx[238] - (xx[230] * xx[238] * xx[230] + xx[238] * xx[231] * xx[231]) |
| 1643 | * xx[34]; |
| 1644 | xx[238] = xx[26] - xx[239]; |
| 1645 | xx[240] = xx[44] * state[71] - xx[46] * state[68]; |
| 1646 | xx[241] = xx[44] * state[70] + xx[46] * state[69]; |
| 1647 | xx[242] = - xx[241]; |
| 1648 | xx[243] = xx[46] * state[70] - xx[44] * state[69]; |
| 1649 | xx[244] = - xx[243]; |
| 1650 | xx[245] = xx[44] * state[68] + xx[46] * state[71]; |
| 1651 | xx[246] = - xx[245]; |
| 1652 | xx[247] = xx[240]; |
| 1653 | xx[248] = xx[242]; |
| 1654 | xx[249] = xx[244]; |
| 1655 | xx[250] = xx[246]; |
| 1656 | pm_math_quatXform(xx + 247, xx + 51, xx + 251); |
| 1657 | xx[254] = 0.3162553791961485; |
| 1658 | xx[255] = xx[4] * state[75]; |
| 1659 | xx[256] = cos(xx[255]); |
| 1660 | xx[257] = 0.3162538200043588; |
| 1661 | xx[258] = sin(xx[255]); |
| 1662 | xx[255] = xx[254] * xx[256] - xx[257] * xx[258]; |
| 1663 | xx[259] = 0.6324445710612965; |
| 1664 | xx[260] = 0.6324396579890005; |
| 1665 | xx[261] = xx[259] * xx[256] + xx[260] * xx[258]; |
| 1666 | xx[262] = xx[259] * xx[258] - xx[260] * xx[256]; |
| 1667 | xx[259] = xx[257] * xx[256] + xx[254] * xx[258]; |
| 1668 | xx[254] = - xx[259]; |
| 1669 | xx[256] = xx[262] * xx[26]; |
| 1670 | xx[263] = xx[261]; |
| 1671 | xx[264] = xx[262]; |
| 1672 | xx[265] = xx[254]; |
| 1673 | xx[257] = xx[28] * xx[259] - xx[26] * xx[261]; |
| 1674 | xx[258] = xx[262] * xx[28]; |
| 1675 | pm_math_cross3(xx + 263, xx + 256, xx + 266); |
| 1676 | xx[260] = 0.08825748853214695 + (xx[255] * xx[256] + xx[266]) * xx[34] - xx[28]; |
| 1677 | xx[256] = - xx[260]; |
| 1678 | xx[263] = 0.02992204813763048 - (xx[255] * xx[257] + xx[267]) * xx[34]; |
| 1679 | xx[257] = 0.1297164406712666 + xx[26] + xx[34] * (xx[268] + xx[255] * xx[258]); |
| 1680 | xx[258] = - xx[257]; |
| 1681 | xx[264] = xx[4] * state[77]; |
| 1682 | xx[265] = cos(xx[264]); |
| 1683 | xx[266] = sin(xx[264]); |
| 1684 | xx[264] = 5.157931604049537e-12; |
| 1685 | xx[267] = 9.862118968695376e-13; |
| 1686 | xx[268] = xx[264] * xx[266] - xx[267] * xx[265]; |
| 1687 | xx[269] = xx[264] - xx[34] * xx[268] * xx[266]; |
| 1688 | xx[270] = xx[229] - xx[269]; |
| 1689 | xx[271] = xx[267] + xx[34] * xx[268] * xx[265]; |
| 1690 | xx[268] = 3.99999999470772e-3; |
| 1691 | xx[272] = xx[268] - (xx[265] * xx[268] * xx[265] + xx[268] * xx[266] * xx[266]) |
| 1692 | * xx[34]; |
| 1693 | xx[268] = xx[26] - xx[272]; |
| 1694 | xx[273] = xx[44] * state[82] - xx[46] * state[79]; |
| 1695 | xx[274] = xx[44] * state[81] + xx[46] * state[80]; |
| 1696 | xx[275] = - xx[274]; |
| 1697 | xx[276] = xx[46] * state[81] - xx[44] * state[80]; |
| 1698 | xx[277] = - xx[276]; |
| 1699 | xx[278] = xx[44] * state[79] + xx[46] * state[82]; |
| 1700 | xx[279] = - xx[278]; |
| 1701 | xx[280] = xx[273]; |
| 1702 | xx[281] = xx[275]; |
| 1703 | xx[282] = xx[277]; |
| 1704 | xx[283] = xx[279]; |
| 1705 | pm_math_quatXform(xx + 280, xx + 51, xx + 284); |
| 1706 | xx[287] = 0.3162538200043575; |
| 1707 | xx[288] = xx[4] * state[86]; |
| 1708 | xx[289] = sin(xx[288]); |
| 1709 | xx[290] = 0.3162553791961478; |
| 1710 | xx[291] = cos(xx[288]); |
| 1711 | xx[288] = xx[287] * xx[289] - xx[290] * xx[291]; |
| 1712 | xx[292] = 0.6324445710612973; |
| 1713 | xx[293] = 0.6324396579890008; |
| 1714 | xx[294] = xx[292] * xx[291] + xx[293] * xx[289]; |
| 1715 | xx[295] = - xx[294]; |
| 1716 | xx[296] = xx[293] * xx[291] - xx[292] * xx[289]; |
| 1717 | xx[292] = xx[287] * xx[291] + xx[290] * xx[289]; |
| 1718 | xx[287] = 1.587499999999983e-3; |
| 1719 | xx[289] = xx[296] * xx[287]; |
| 1720 | xx[297] = xx[295]; |
| 1721 | xx[298] = xx[296]; |
| 1722 | xx[299] = xx[292]; |
| 1723 | xx[290] = xx[287] * xx[294] - xx[28] * xx[292]; |
| 1724 | xx[291] = xx[296] * xx[28]; |
| 1725 | pm_math_cross3(xx + 297, xx + 289, xx + 300); |
| 1726 | xx[293] = 0.1492477869940503 + (xx[288] * xx[289] + xx[300]) * xx[34] - xx[28]; |
| 1727 | xx[289] = - xx[293]; |
| 1728 | xx[297] = 0.02992151662180351 - (xx[288] * xx[290] + xx[301]) * xx[34]; |
| 1729 | xx[290] = 0.04838166497694621 + xx[287] + xx[34] * (xx[302] + xx[288] * xx[291]); |
| 1730 | xx[287] = - xx[290]; |
| 1731 | xx[291] = xx[4] * state[88]; |
| 1732 | xx[4] = cos(xx[291]); |
| 1733 | xx[298] = sin(xx[291]); |
| 1734 | xx[291] = 0.03194045367095628; |
| 1735 | xx[299] = 1.600627075326599e-13; |
| 1736 | xx[300] = 8.497959654019115e-12; |
| 1737 | xx[301] = xx[299] * xx[298] - xx[300] * xx[4]; |
| 1738 | xx[302] = xx[299] - xx[34] * xx[301] * xx[298]; |
| 1739 | xx[303] = xx[291] - xx[302]; |
| 1740 | xx[304] = xx[300] + xx[34] * xx[301] * xx[4]; |
| 1741 | xx[301] = 1.587500000000039e-3; |
| 1742 | xx[305] = 3.999999996613603e-3; |
| 1743 | xx[306] = xx[305] - (xx[4] * xx[305] * xx[4] + xx[305] * xx[298] * xx[298]) * |
| 1744 | xx[34]; |
| 1745 | xx[305] = xx[301] - xx[306]; |
| 1746 | xx[307] = xx[44] * state[93] - xx[46] * state[90]; |
| 1747 | xx[308] = xx[44] * state[92] + xx[46] * state[91]; |
| 1748 | xx[309] = - xx[308]; |
| 1749 | xx[310] = xx[46] * state[92] - xx[44] * state[91]; |
| 1750 | xx[311] = - xx[310]; |
| 1751 | xx[312] = xx[44] * state[90] + xx[46] * state[93]; |
| 1752 | xx[313] = - xx[312]; |
| 1753 | xx[314] = xx[307]; |
| 1754 | xx[315] = xx[309]; |
| 1755 | xx[316] = xx[311]; |
| 1756 | xx[317] = xx[313]; |
| 1757 | pm_math_quatXform(xx + 314, xx + 51, xx + 318); |
| 1758 | xx[321] = - (xx[228] * xx[231] + xx[230] * xx[226]); |
| 1759 | xx[322] = - (xx[220] * xx[230] - xx[231] * xx[224]); |
| 1760 | xx[323] = xx[220] * xx[231] + xx[230] * xx[224]; |
| 1761 | xx[224] = xx[228] * xx[230] - xx[231] * xx[226]; |
| 1762 | xx[324] = xx[220]; |
| 1763 | xx[325] = xx[227]; |
| 1764 | xx[326] = xx[228]; |
| 1765 | xx[327] = xx[219]; |
| 1766 | xx[328] = xx[236]; |
| 1767 | xx[329] = xx[234]; |
| 1768 | xx[330] = xx[238]; |
| 1769 | pm_math_quatXform(xx + 324, xx + 328, xx + 331); |
| 1770 | xx[226] = xx[331] + xx[225]; |
| 1771 | xx[334] = xx[332] + xx[221]; |
| 1772 | xx[331] = xx[333] - xx[222]; |
| 1773 | xx[335] = xx[321]; |
| 1774 | xx[336] = xx[322]; |
| 1775 | xx[337] = xx[323]; |
| 1776 | xx[338] = xx[224]; |
| 1777 | pm_math_quatCompose(xx + 335, xx + 247, xx + 339); |
| 1778 | pm_math_quatXform(xx + 335, xx + 251, xx + 343); |
| 1779 | xx[222] = - (xx[33] * xx[39] + xx[38] * xx[31]); |
| 1780 | xx[332] = - (xx[9] * xx[38] - xx[39] * xx[29]); |
| 1781 | xx[333] = xx[9] * xx[39] + xx[38] * xx[29]; |
| 1782 | xx[29] = xx[33] * xx[38] - xx[39] * xx[31]; |
| 1783 | xx[335] = xx[9]; |
| 1784 | xx[336] = xx[32]; |
| 1785 | xx[337] = xx[33]; |
| 1786 | xx[338] = xx[3]; |
| 1787 | xx[346] = xx[42]; |
| 1788 | xx[347] = xx[41]; |
| 1789 | xx[348] = xx[45]; |
| 1790 | pm_math_quatXform(xx + 335, xx + 346, xx + 349); |
| 1791 | xx[31] = xx[349] + xx[35]; |
| 1792 | xx[352] = xx[350] + xx[27]; |
| 1793 | xx[349] = xx[351] - xx[30]; |
| 1794 | xx[353] = xx[222]; |
| 1795 | xx[354] = xx[332]; |
| 1796 | xx[355] = xx[333]; |
| 1797 | xx[356] = xx[29]; |
| 1798 | pm_math_quatCompose(xx + 353, xx + 47, xx + 357); |
| 1799 | pm_math_quatXform(xx + 353, xx + 54, xx + 361); |
| 1800 | xx[30] = xx[361] + xx[31]; |
| 1801 | xx[350] = xx[362] + xx[352]; |
| 1802 | xx[351] = xx[363] + xx[349]; |
| 1803 | pm_math_quatCompose(xx + 357, xx + 63, xx + 353); |
| 1804 | xx[361] = xx[73]; |
| 1805 | xx[362] = xx[74]; |
| 1806 | xx[363] = xx[70]; |
| 1807 | pm_math_quatXform(xx + 357, xx + 361, xx + 364); |
| 1808 | xx[367] = xx[364] + xx[30]; |
| 1809 | xx[368] = xx[365] + xx[350]; |
| 1810 | xx[364] = xx[366] + xx[351]; |
| 1811 | xx[365] = xx[72] * xx[353] - xx[356] * xx[75]; |
| 1812 | xx[366] = xx[72] * xx[354] + xx[355] * xx[75]; |
| 1813 | xx[369] = xx[72] * xx[355] - xx[354] * xx[75]; |
| 1814 | xx[370] = xx[353] * xx[75] + xx[72] * xx[356]; |
| 1815 | xx[371] = xx[78]; |
| 1816 | xx[372] = xx[76]; |
| 1817 | xx[373] = xx[80]; |
| 1818 | pm_math_quatXform(xx + 353, xx + 371, xx + 374); |
| 1819 | xx[377] = xx[374] + xx[367]; |
| 1820 | xx[378] = xx[375] + xx[368]; |
| 1821 | xx[374] = xx[376] + xx[364]; |
| 1822 | xx[379] = xx[365]; |
| 1823 | xx[380] = xx[366]; |
| 1824 | xx[381] = xx[369]; |
| 1825 | xx[382] = xx[370]; |
| 1826 | xx[383] = xx[88]; |
| 1827 | xx[384] = xx[84]; |
| 1828 | xx[385] = xx[86]; |
| 1829 | pm_math_quatXform(xx + 379, xx + 383, xx + 386); |
| 1830 | xx[375] = xx[230] * xx[252] + xx[251] * xx[231]; |
| 1831 | xx[376] = xx[72] * xx[82] + xx[75] * xx[83]; |
| 1832 | xx[389] = xx[82] * xx[75] - xx[72] * xx[83]; |
| 1833 | xx[390] = xx[75] * xx[89]; |
| 1834 | xx[391] = xx[75] * xx[87]; |
| 1835 | xx[392] = xx[34] * (xx[72] * xx[390] + xx[391] * xx[75]) - xx[87] - xx[77]; |
| 1836 | xx[87] = (xx[390] * xx[75] - xx[72] * xx[391]) * xx[34] - xx[89] - xx[79]; |
| 1837 | xx[89] = 7.519262990030029e-13; |
| 1838 | xx[390] = xx[376] * xx[58] + xx[62] * xx[389]; |
| 1839 | xx[391] = xx[376] * xx[59] - xx[60] * xx[389]; |
| 1840 | xx[393] = - (xx[60] * xx[376] + xx[59] * xx[389]); |
| 1841 | xx[60] = xx[58] * xx[389] - xx[62] * xx[376]; |
| 1842 | xx[394] = xx[392]; |
| 1843 | xx[395] = xx[87]; |
| 1844 | xx[396] = xx[89]; |
| 1845 | pm_math_quatXform(xx + 63, xx + 394, xx + 397); |
| 1846 | xx[62] = xx[397] + xx[73]; |
| 1847 | xx[394] = xx[398] + xx[74]; |
| 1848 | xx[395] = xx[399] + xx[70]; |
| 1849 | xx[396] = xx[390]; |
| 1850 | xx[397] = xx[391]; |
| 1851 | xx[398] = xx[393]; |
| 1852 | xx[399] = xx[60]; |
| 1853 | pm_math_quatCompose(xx + 47, xx + 396, xx + 400); |
| 1854 | xx[396] = xx[62]; |
| 1855 | xx[397] = xx[394]; |
| 1856 | xx[398] = xx[395]; |
| 1857 | pm_math_quatXform(xx + 47, xx + 396, xx + 404); |
| 1858 | xx[396] = xx[404] + xx[54]; |
| 1859 | xx[397] = xx[405] + xx[55]; |
| 1860 | xx[398] = xx[406] + xx[56]; |
| 1861 | xx[399] = xx[397] * xx[38] + xx[396] * xx[39]; |
| 1862 | xx[404] = - (xx[196] * xx[195] - xx[194] * xx[192]); |
| 1863 | xx[405] = - (xx[192] * xx[191] + xx[159] * xx[196]); |
| 1864 | xx[406] = xx[196] * xx[191] - xx[159] * xx[192]; |
| 1865 | xx[407] = xx[194] * xx[196] + xx[192] * xx[195]; |
| 1866 | xx[408] = xx[191]; |
| 1867 | xx[409] = xx[194]; |
| 1868 | xx[410] = xx[195]; |
| 1869 | xx[411] = xx[159]; |
| 1870 | xx[412] = xx[201]; |
| 1871 | xx[413] = xx[199]; |
| 1872 | xx[414] = xx[203]; |
| 1873 | pm_math_quatXform(xx + 408, xx + 412, xx + 415); |
| 1874 | xx[418] = xx[415] + xx[193]; |
| 1875 | xx[419] = xx[416] + xx[153]; |
| 1876 | xx[415] = xx[417] + xx[160]; |
| 1877 | pm_math_quatCompose(xx + 404, xx + 212, xx + 420); |
| 1878 | pm_math_quatXform(xx + 404, xx + 216, xx + 424); |
| 1879 | pm_math_quatCompose(xx + 379, xx + 100, xx + 427); |
| 1880 | pm_math_quatXform(xx + 379, xx + 104, xx + 431); |
| 1881 | xx[416] = xx[192] * xx[217] + xx[216] * xx[196]; |
| 1882 | xx[417] = xx[72] * xx[95] + xx[94] * xx[75]; |
| 1883 | xx[434] = - (xx[92] * xx[72] + xx[75] * xx[99]); |
| 1884 | xx[435] = xx[72] * xx[99] - xx[92] * xx[75]; |
| 1885 | xx[92] = xx[75] * xx[95] - xx[94] * xx[72]; |
| 1886 | xx[94] = xx[108] * xx[75]; |
| 1887 | xx[436] = xx[75] * xx[104]; |
| 1888 | xx[437] = xx[104] + xx[34] * (xx[72] * xx[94] - xx[436] * xx[75]) - xx[77]; |
| 1889 | xx[438] = (xx[72] * xx[436] + xx[94] * xx[75]) * xx[34] - xx[108] - xx[79]; |
| 1890 | xx[94] = xx[106] + xx[80]; |
| 1891 | xx[439] = xx[417]; |
| 1892 | xx[440] = xx[434]; |
| 1893 | xx[441] = xx[435]; |
| 1894 | xx[442] = xx[92]; |
| 1895 | pm_math_quatCompose(xx + 63, xx + 439, xx + 443); |
| 1896 | xx[439] = xx[437]; |
| 1897 | xx[440] = xx[438]; |
| 1898 | xx[441] = xx[94]; |
| 1899 | pm_math_quatXform(xx + 63, xx + 439, xx + 447); |
| 1900 | xx[108] = xx[447] + xx[73]; |
| 1901 | xx[436] = xx[448] + xx[74]; |
| 1902 | xx[439] = xx[449] + xx[70]; |
| 1903 | pm_math_quatCompose(xx + 47, xx + 443, xx + 447); |
| 1904 | xx[440] = xx[108]; |
| 1905 | xx[441] = xx[436]; |
| 1906 | xx[442] = xx[439]; |
| 1907 | pm_math_quatXform(xx + 47, xx + 440, xx + 451); |
| 1908 | xx[440] = xx[451] + xx[54]; |
| 1909 | xx[441] = xx[452] + xx[55]; |
| 1910 | xx[442] = xx[453] + xx[56]; |
| 1911 | xx[451] = xx[441] * xx[38] + xx[440] * xx[39]; |
| 1912 | xx[452] = - (xx[262] * xx[266] - xx[265] * xx[261]); |
| 1913 | xx[453] = - (xx[255] * xx[265] - xx[266] * xx[259]); |
| 1914 | xx[454] = xx[255] * xx[266] + xx[265] * xx[259]; |
| 1915 | xx[259] = xx[266] * xx[261] + xx[262] * xx[265]; |
| 1916 | xx[455] = xx[255]; |
| 1917 | xx[456] = xx[261]; |
| 1918 | xx[457] = xx[262]; |
| 1919 | xx[458] = xx[254]; |
| 1920 | xx[459] = xx[270]; |
| 1921 | xx[460] = xx[271]; |
| 1922 | xx[461] = xx[268]; |
| 1923 | pm_math_quatXform(xx + 455, xx + 459, xx + 462); |
| 1924 | xx[465] = xx[462] - xx[260]; |
| 1925 | xx[260] = xx[463] + xx[263]; |
| 1926 | xx[462] = xx[464] - xx[257]; |
| 1927 | xx[466] = xx[452]; |
| 1928 | xx[467] = xx[453]; |
| 1929 | xx[468] = xx[454]; |
| 1930 | xx[469] = xx[259]; |
| 1931 | pm_math_quatCompose(xx + 466, xx + 280, xx + 470); |
| 1932 | pm_math_quatXform(xx + 466, xx + 284, xx + 474); |
| 1933 | pm_math_quatCompose(xx + 379, xx + 118, xx + 466); |
| 1934 | pm_math_quatXform(xx + 379, xx + 123, xx + 477); |
| 1935 | xx[257] = xx[265] * xx[285] + xx[284] * xx[266]; |
| 1936 | xx[463] = - (xx[113] * xx[72] + xx[75] * xx[116]); |
| 1937 | xx[464] = xx[72] * xx[110] + xx[117] * xx[75]; |
| 1938 | xx[480] = xx[75] * xx[110] - xx[117] * xx[72]; |
| 1939 | xx[117] = xx[72] * xx[116] - xx[113] * xx[75]; |
| 1940 | xx[113] = xx[126] * xx[75]; |
| 1941 | xx[481] = xx[75] * xx[122]; |
| 1942 | xx[482] = xx[34] * (xx[72] * xx[113] + xx[481] * xx[75]) - xx[122] - xx[77]; |
| 1943 | xx[122] = (xx[113] * xx[75] - xx[72] * xx[481]) * xx[34] - xx[126] - xx[79]; |
| 1944 | xx[113] = xx[125] + xx[80]; |
| 1945 | xx[483] = xx[463]; |
| 1946 | xx[484] = xx[464]; |
| 1947 | xx[485] = xx[480]; |
| 1948 | xx[486] = xx[117]; |
| 1949 | pm_math_quatCompose(xx + 63, xx + 483, xx + 487); |
| 1950 | xx[483] = xx[482]; |
| 1951 | xx[484] = xx[122]; |
| 1952 | xx[485] = xx[113]; |
| 1953 | pm_math_quatXform(xx + 63, xx + 483, xx + 491); |
| 1954 | xx[126] = xx[491] + xx[73]; |
| 1955 | xx[481] = xx[492] + xx[74]; |
| 1956 | xx[483] = xx[493] + xx[70]; |
| 1957 | pm_math_quatCompose(xx + 47, xx + 487, xx + 491); |
| 1958 | xx[484] = xx[126]; |
| 1959 | xx[485] = xx[481]; |
| 1960 | xx[486] = xx[483]; |
| 1961 | pm_math_quatXform(xx + 47, xx + 484, xx + 495); |
| 1962 | xx[484] = xx[495] + xx[54]; |
| 1963 | xx[485] = xx[496] + xx[55]; |
| 1964 | xx[486] = xx[497] + xx[56]; |
| 1965 | xx[495] = xx[485] * xx[38] + xx[484] * xx[39]; |
| 1966 | xx[496] = - (xx[296] * xx[298] + xx[4] * xx[294]); |
| 1967 | xx[497] = - (xx[288] * xx[4] + xx[298] * xx[292]); |
| 1968 | xx[498] = xx[288] * xx[298] - xx[4] * xx[292]; |
| 1969 | xx[499] = xx[296] * xx[4] - xx[298] * xx[294]; |
| 1970 | xx[500] = xx[288]; |
| 1971 | xx[501] = xx[295]; |
| 1972 | xx[502] = xx[296]; |
| 1973 | xx[503] = xx[292]; |
| 1974 | pm_math_quatXform(xx + 500, xx + 303, xx + 504); |
| 1975 | xx[294] = xx[504] - xx[293]; |
| 1976 | xx[293] = xx[505] + xx[297]; |
| 1977 | xx[504] = xx[506] - xx[290]; |
| 1978 | pm_math_quatCompose(xx + 496, xx + 314, xx + 505); |
| 1979 | pm_math_quatXform(xx + 496, xx + 318, xx + 509); |
| 1980 | pm_math_quatCompose(xx + 379, xx + 131, xx + 512); |
| 1981 | pm_math_quatXform(xx + 379, xx + 136, xx + 516); |
| 1982 | xx[290] = xx[4] * xx[319] + xx[318] * xx[298]; |
| 1983 | xx[519] = xx[107] * xx[72] - xx[75] * xx[128]; |
| 1984 | xx[520] = xx[72] * xx[115] - xx[130] * xx[75]; |
| 1985 | xx[521] = xx[130] * xx[72] + xx[75] * xx[115]; |
| 1986 | xx[522] = xx[72] * xx[128] + xx[107] * xx[75]; |
| 1987 | xx[523] = xx[139] * xx[75]; |
| 1988 | xx[524] = xx[75] * xx[135]; |
| 1989 | xx[525] = xx[34] * (xx[72] * xx[523] + xx[524] * xx[75]) - xx[135] - xx[77]; |
| 1990 | xx[135] = (xx[523] * xx[75] - xx[72] * xx[524]) * xx[34] - xx[139] - xx[79]; |
| 1991 | xx[139] = xx[138] + xx[80]; |
| 1992 | pm_math_quatCompose(xx + 63, xx + 519, xx + 526); |
| 1993 | xx[530] = xx[525]; |
| 1994 | xx[531] = xx[135]; |
| 1995 | xx[532] = xx[139]; |
| 1996 | pm_math_quatXform(xx + 63, xx + 530, xx + 533); |
| 1997 | xx[523] = xx[533] + xx[73]; |
| 1998 | xx[524] = xx[534] + xx[74]; |
| 1999 | xx[530] = xx[535] + xx[70]; |
| 2000 | pm_math_quatCompose(xx + 47, xx + 526, xx + 531); |
| 2001 | xx[535] = xx[523]; |
| 2002 | xx[536] = xx[524]; |
| 2003 | xx[537] = xx[530]; |
| 2004 | pm_math_quatXform(xx + 47, xx + 535, xx + 538); |
| 2005 | xx[535] = xx[538] + xx[54]; |
| 2006 | xx[536] = xx[539] + xx[55]; |
| 2007 | xx[537] = xx[540] + xx[56]; |
| 2008 | xx[538] = xx[536] * xx[38] + xx[535] * xx[39]; |
| 2009 | xx[539] = - (xx[169] * xx[162] - xx[161] * xx[168]); |
| 2010 | xx[540] = - (xx[168] * xx[155] + xx[163] * xx[169]); |
| 2011 | xx[541] = xx[169] * xx[155] - xx[163] * xx[168]; |
| 2012 | xx[542] = xx[161] * xx[169] + xx[168] * xx[162]; |
| 2013 | xx[543] = xx[155]; |
| 2014 | xx[544] = xx[161]; |
| 2015 | xx[545] = xx[162]; |
| 2016 | xx[546] = xx[163]; |
| 2017 | xx[547] = xx[174]; |
| 2018 | xx[548] = xx[175]; |
| 2019 | xx[549] = xx[172]; |
| 2020 | pm_math_quatXform(xx + 543, xx + 547, xx + 550); |
| 2021 | xx[553] = xx[550] - xx[166]; |
| 2022 | xx[166] = xx[551] + xx[167]; |
| 2023 | xx[550] = xx[552] + xx[164]; |
| 2024 | pm_math_quatCompose(xx + 539, xx + 184, xx + 554); |
| 2025 | pm_math_quatXform(xx + 539, xx + 188, xx + 558); |
| 2026 | pm_math_quatCompose(xx + 379, xx + 146, xx + 561); |
| 2027 | pm_math_quatXform(xx + 379, xx + 150, xx + 565); |
| 2028 | xx[379] = xx[168] * xx[189] + xx[188] * xx[169]; |
| 2029 | xx[380] = xx[72] * xx[90] + xx[143] * xx[75]; |
| 2030 | xx[381] = - (xx[96] * xx[72] + xx[75] * xx[145]); |
| 2031 | xx[382] = xx[72] * xx[145] - xx[96] * xx[75]; |
| 2032 | xx[96] = xx[75] * xx[90] - xx[143] * xx[72]; |
| 2033 | xx[143] = xx[154] * xx[75]; |
| 2034 | xx[551] = xx[75] * xx[150]; |
| 2035 | xx[552] = xx[150] + xx[34] * (xx[72] * xx[143] - xx[551] * xx[75]) - xx[77]; |
| 2036 | xx[77] = (xx[72] * xx[551] + xx[143] * xx[75]) * xx[34] - xx[154] - xx[79]; |
| 2037 | xx[79] = xx[152] + xx[80]; |
| 2038 | xx[568] = xx[380]; |
| 2039 | xx[569] = xx[381]; |
| 2040 | xx[570] = xx[382]; |
| 2041 | xx[571] = xx[96]; |
| 2042 | pm_math_quatCompose(xx + 63, xx + 568, xx + 572); |
| 2043 | xx[568] = xx[552]; |
| 2044 | xx[569] = xx[77]; |
| 2045 | xx[570] = xx[79]; |
| 2046 | pm_math_quatXform(xx + 63, xx + 568, xx + 576); |
| 2047 | xx[143] = xx[576] + xx[73]; |
| 2048 | xx[154] = xx[577] + xx[74]; |
| 2049 | xx[551] = xx[578] + xx[70]; |
| 2050 | pm_math_quatCompose(xx + 47, xx + 572, xx + 568); |
| 2051 | xx[576] = xx[143]; |
| 2052 | xx[577] = xx[154]; |
| 2053 | xx[578] = xx[551]; |
| 2054 | pm_math_quatXform(xx + 47, xx + 576, xx + 579); |
| 2055 | xx[576] = xx[579] + xx[54]; |
| 2056 | xx[577] = xx[580] + xx[55]; |
| 2057 | xx[578] = xx[581] + xx[56]; |
| 2058 | xx[579] = xx[577] * xx[38] + xx[576] * xx[39]; |
| 2059 | xx[580] = xx[1] * xx[24]; |
| 2060 | xx[581] = xx[1] * xx[25]; |
| 2061 | xx[582] = xx[580] + xx[581]; |
| 2062 | xx[583] = xx[580] - xx[581]; |
| 2063 | xx[580] = xx[1] * xx[22]; |
| 2064 | xx[581] = xx[1] * xx[23]; |
| 2065 | xx[584] = - (xx[580] + xx[581]); |
| 2066 | xx[585] = xx[581] - xx[580]; |
| 2067 | xx[580] = 0.5000000000000001 * xx[19]; |
| 2068 | xx[581] = (xx[580] + xx[580]) * xx[34] - xx[19] - state[0]; |
| 2069 | xx[580] = 1.414213562373095 * (xx[1] * xx[21] - xx[1] * xx[20]); |
| 2070 | xx[1] = state[2] - (xx[580] + xx[20]); |
| 2071 | xx[586] = state[1] - (xx[21] - xx[580]); |
| 2072 | pm_math_quatCompose(xx + 582, xx + 335, xx + 587); |
| 2073 | xx[591] = xx[35]; |
| 2074 | xx[592] = xx[27]; |
| 2075 | xx[593] = xx[36]; |
| 2076 | pm_math_quatXform(xx + 582, xx + 591, xx + 594); |
| 2077 | xx[580] = xx[594] + xx[581]; |
| 2078 | xx[597] = xx[595] + xx[1]; |
| 2079 | xx[594] = xx[596] + xx[586]; |
| 2080 | xx[595] = - (xx[589] * xx[39] - xx[38] * xx[588]); |
| 2081 | xx[596] = - (xx[38] * xx[587] + xx[590] * xx[39]); |
| 2082 | xx[598] = xx[587] * xx[39] - xx[38] * xx[590]; |
| 2083 | xx[599] = xx[588] * xx[39] + xx[38] * xx[589]; |
| 2084 | pm_math_quatXform(xx + 587, xx + 346, xx + 600); |
| 2085 | xx[603] = xx[600] + xx[580]; |
| 2086 | xx[604] = xx[601] + xx[597]; |
| 2087 | xx[600] = xx[602] + xx[594]; |
| 2088 | xx[605] = xx[595]; |
| 2089 | xx[606] = xx[596]; |
| 2090 | xx[607] = xx[598]; |
| 2091 | xx[608] = xx[599]; |
| 2092 | pm_math_quatCompose(xx + 605, xx + 47, xx + 609); |
| 2093 | pm_math_quatXform(xx + 605, xx + 54, xx + 613); |
| 2094 | xx[601] = xx[613] + xx[603]; |
| 2095 | xx[602] = xx[614] + xx[604]; |
| 2096 | xx[605] = xx[615] + xx[600]; |
| 2097 | pm_math_quatCompose(xx + 609, xx + 63, xx + 613); |
| 2098 | pm_math_quatXform(xx + 609, xx + 361, xx + 606); |
| 2099 | xx[617] = xx[606] + xx[601]; |
| 2100 | xx[618] = xx[607] + xx[602]; |
| 2101 | xx[606] = xx[608] + xx[605]; |
| 2102 | pm_math_quatXform(xx + 613, xx + 371, xx + 619); |
| 2103 | xx[622] = - xx[5]; |
| 2104 | xx[623] = xx[7]; |
| 2105 | xx[624] = xx[8]; |
| 2106 | pm_math_quatInverseXform(xx + 12, xx + 622, xx + 625); |
| 2107 | xx[5] = (1.0 - (xx[24] * xx[24] + xx[25] * xx[25]) * xx[34]) * state[9] + xx |
| 2108 | [625] * state[10] - xx[6] * state[11]; |
| 2109 | xx[6] = xx[34] * (xx[23] * xx[24] - xx[22] * xx[25]) * state[9] + xx[626] * |
| 2110 | state[10] - xx[10] * state[11]; |
| 2111 | xx[7] = xx[34] * (xx[22] * xx[24] + xx[23] * xx[25]) * state[9] + xx[627] * |
| 2112 | state[10] + xx[11] * state[11]; |
| 2113 | xx[10] = state[3]; |
| 2114 | xx[11] = state[4]; |
| 2115 | xx[12] = state[5]; |
| 2116 | pm_math_quatInverseXform(xx + 22, xx + 10, xx + 13); |
| 2117 | pm_math_cross3(xx + 16, xx + 5, xx + 10); |
| 2118 | xx[8] = xx[13] + xx[10]; |
| 2119 | xx[16] = xx[14] + xx[11]; |
| 2120 | xx[10] = xx[15] + xx[12]; |
| 2121 | pm_math_quatInverseXform(xx + 335, xx + 5, xx + 11); |
| 2122 | xx[14] = xx[13] - state[13]; |
| 2123 | pm_math_cross3(xx + 5, xx + 591, xx + 622); |
| 2124 | xx[591] = xx[622] + xx[8]; |
| 2125 | xx[592] = xx[623] + xx[16]; |
| 2126 | xx[593] = xx[624] + xx[10]; |
| 2127 | pm_math_quatInverseXform(xx + 335, xx + 591, xx + 622); |
| 2128 | xx[13] = xx[623] - xx[28] * state[13]; |
| 2129 | xx[15] = xx[38] * xx[12] + xx[11] * xx[39]; |
| 2130 | xx[17] = xx[11] - xx[34] * xx[15] * xx[39]; |
| 2131 | xx[18] = xx[12] - xx[34] * xx[15] * xx[38]; |
| 2132 | xx[15] = xx[14] - (xx[38] * xx[38] * xx[14] + xx[39] * xx[14] * xx[39]) * xx |
| 2133 | [34] + state[15]; |
| 2134 | xx[335] = xx[11]; |
| 2135 | xx[336] = xx[12]; |
| 2136 | xx[337] = xx[14]; |
| 2137 | pm_math_cross3(xx + 335, xx + 346, xx + 591); |
| 2138 | xx[335] = xx[591] + xx[622]; |
| 2139 | xx[336] = xx[592] + xx[13]; |
| 2140 | xx[337] = xx[336] * xx[38] + xx[335] * xx[39]; |
| 2141 | xx[338] = xx[335] - xx[34] * xx[337] * xx[39] - xx[37] * state[15]; |
| 2142 | xx[37] = xx[336] - xx[34] * xx[337] * xx[38] + xx[40] * state[15]; |
| 2143 | xx[40] = xx[593] + xx[624]; |
| 2144 | xx[335] = xx[40] - (xx[38] * xx[40] * xx[38] + xx[40] * xx[39] * xx[39]) * xx |
| 2145 | [34]; |
| 2146 | xx[346] = xx[17]; |
| 2147 | xx[347] = xx[18]; |
| 2148 | xx[348] = xx[15]; |
| 2149 | pm_math_quatInverseXform(xx + 47, xx + 346, xx + 591); |
| 2150 | xx[40] = xx[44] * state[20]; |
| 2151 | xx[336] = xx[44] * state[21]; |
| 2152 | xx[337] = state[20] - (xx[44] * xx[40] - xx[46] * xx[336]) * xx[34]; |
| 2153 | xx[607] = xx[591] + xx[337]; |
| 2154 | xx[608] = state[21] - xx[34] * (xx[46] * xx[40] + xx[44] * xx[336]); |
| 2155 | xx[40] = xx[592] + xx[608]; |
| 2156 | xx[336] = xx[593] + state[22]; |
| 2157 | pm_math_cross3(xx + 346, xx + 54, xx + 591); |
| 2158 | xx[346] = xx[591] + xx[338]; |
| 2159 | xx[347] = xx[592] + xx[37]; |
| 2160 | xx[348] = xx[593] + xx[335]; |
| 2161 | pm_math_quatInverseXform(xx + 47, xx + 346, xx + 591); |
| 2162 | xx[346] = xx[337]; |
| 2163 | xx[347] = xx[608]; |
| 2164 | xx[348] = state[22]; |
| 2165 | pm_math_cross3(xx + 346, xx + 51, xx + 625); |
| 2166 | xx[337] = xx[591] + xx[625]; |
| 2167 | xx[346] = xx[592] + xx[626]; |
| 2168 | xx[347] = xx[593] + xx[627]; |
| 2169 | xx[591] = xx[607]; |
| 2170 | xx[592] = xx[40]; |
| 2171 | xx[593] = xx[336]; |
| 2172 | pm_math_quatInverseXform(xx + 63, xx + 591, xx + 625); |
| 2173 | xx[348] = xx[625] + state[27]; |
| 2174 | xx[608] = xx[626] + state[28]; |
| 2175 | xx[623] = xx[627] + state[29]; |
| 2176 | pm_math_cross3(xx + 591, xx + 361, xx + 625); |
| 2177 | xx[361] = xx[625] + xx[337]; |
| 2178 | xx[362] = xx[626] + xx[346]; |
| 2179 | xx[363] = xx[627] + xx[347]; |
| 2180 | pm_math_quatInverseXform(xx + 63, xx + 361, xx + 591); |
| 2181 | xx[63] = state[27]; |
| 2182 | xx[64] = state[28]; |
| 2183 | xx[65] = state[29]; |
| 2184 | pm_math_cross3(xx + 63, xx + 67, xx + 361); |
| 2185 | xx[63] = xx[591] + xx[361]; |
| 2186 | xx[64] = xx[592] + xx[362]; |
| 2187 | xx[65] = xx[593] + xx[363]; |
| 2188 | xx[66] = xx[608] * xx[75]; |
| 2189 | xx[67] = xx[348] * xx[75]; |
| 2190 | xx[68] = xx[348] + xx[34] * (xx[72] * xx[66] - xx[67] * xx[75]); |
| 2191 | xx[69] = xx[608] - (xx[72] * xx[67] + xx[66] * xx[75]) * xx[34]; |
| 2192 | xx[66] = xx[623] + state[31]; |
| 2193 | xx[361] = xx[348]; |
| 2194 | xx[362] = xx[608]; |
| 2195 | xx[363] = xx[623]; |
| 2196 | pm_math_cross3(xx + 361, xx + 371, xx + 591); |
| 2197 | xx[67] = xx[591] + xx[63]; |
| 2198 | xx[361] = xx[592] + xx[64]; |
| 2199 | xx[362] = xx[361] * xx[75]; |
| 2200 | xx[363] = xx[67] * xx[75]; |
| 2201 | xx[371] = xx[67] + xx[34] * (xx[72] * xx[362] - xx[363] * xx[75]); |
| 2202 | xx[67] = xx[361] - (xx[72] * xx[363] + xx[362] * xx[75]) * xx[34] - xx[71] * |
| 2203 | state[31]; |
| 2204 | xx[71] = xx[593] + xx[65]; |
| 2205 | xx[361] = xx[83] * xx[69]; |
| 2206 | xx[362] = xx[68] * xx[83]; |
| 2207 | xx[591] = xx[68]; |
| 2208 | xx[592] = xx[69]; |
| 2209 | xx[593] = xx[66]; |
| 2210 | pm_math_cross3(xx + 591, xx + 383, xx + 625); |
| 2211 | xx[363] = xx[625] + xx[371]; |
| 2212 | xx[372] = xx[626] + xx[67]; |
| 2213 | xx[373] = xx[372] * xx[83]; |
| 2214 | xx[383] = xx[363] * xx[83]; |
| 2215 | pm_math_quatInverseXform(xx + 100, xx + 591, xx + 628); |
| 2216 | pm_math_cross3(xx + 591, xx + 104, xx + 631); |
| 2217 | xx[634] = xx[631] + xx[371]; |
| 2218 | xx[635] = xx[632] + xx[67]; |
| 2219 | xx[636] = xx[633] + xx[71]; |
| 2220 | pm_math_quatInverseXform(xx + 100, xx + 634, xx + 631); |
| 2221 | pm_math_quatInverseXform(xx + 118, xx + 591, xx + 100); |
| 2222 | pm_math_cross3(xx + 591, xx + 123, xx + 634); |
| 2223 | xx[637] = xx[634] + xx[371]; |
| 2224 | xx[638] = xx[635] + xx[67]; |
| 2225 | xx[639] = xx[636] + xx[71]; |
| 2226 | pm_math_quatInverseXform(xx + 118, xx + 637, xx + 634); |
| 2227 | pm_math_quatInverseXform(xx + 131, xx + 591, xx + 118); |
| 2228 | pm_math_cross3(xx + 591, xx + 136, xx + 637); |
| 2229 | xx[640] = xx[637] + xx[371]; |
| 2230 | xx[641] = xx[638] + xx[67]; |
| 2231 | xx[642] = xx[639] + xx[71]; |
| 2232 | pm_math_quatInverseXform(xx + 131, xx + 640, xx + 637); |
| 2233 | pm_math_quatInverseXform(xx + 146, xx + 591, xx + 131); |
| 2234 | pm_math_cross3(xx + 591, xx + 150, xx + 640); |
| 2235 | xx[591] = xx[640] + xx[371]; |
| 2236 | xx[592] = xx[641] + xx[67]; |
| 2237 | xx[593] = xx[642] + xx[71]; |
| 2238 | pm_math_quatInverseXform(xx + 146, xx + 591, xx + 640); |
| 2239 | pm_math_quatInverseXform(xx + 543, xx + 5, xx + 146); |
| 2240 | xx[103] = xx[148] + state[43]; |
| 2241 | xx[591] = xx[158]; |
| 2242 | xx[592] = xx[167]; |
| 2243 | xx[593] = xx[164]; |
| 2244 | pm_math_cross3(xx + 5, xx + 591, xx + 643); |
| 2245 | xx[591] = xx[643] + xx[8]; |
| 2246 | xx[592] = xx[644] + xx[16]; |
| 2247 | xx[593] = xx[645] + xx[10]; |
| 2248 | pm_math_quatInverseXform(xx + 543, xx + 591, xx + 643); |
| 2249 | xx[121] = xx[644] + xx[28] * state[43]; |
| 2250 | xx[134] = xx[168] * xx[147] + xx[146] * xx[169]; |
| 2251 | xx[148] = xx[146] - xx[34] * xx[134] * xx[169]; |
| 2252 | xx[149] = xx[147] - xx[34] * xx[134] * xx[168]; |
| 2253 | xx[134] = xx[103] - (xx[168] * xx[103] * xx[168] + xx[103] * xx[169] * xx[169]) |
| 2254 | * xx[34] + state[45]; |
| 2255 | xx[543] = xx[146]; |
| 2256 | xx[544] = xx[147]; |
| 2257 | xx[545] = xx[103]; |
| 2258 | pm_math_cross3(xx + 543, xx + 547, xx + 591); |
| 2259 | xx[384] = xx[591] + xx[643]; |
| 2260 | xx[385] = xx[592] + xx[121]; |
| 2261 | xx[543] = xx[385] * xx[168] + xx[384] * xx[169]; |
| 2262 | xx[544] = xx[384] - xx[34] * xx[543] * xx[169] - xx[171] * state[45]; |
| 2263 | xx[171] = xx[385] - xx[34] * xx[543] * xx[168] - xx[170] * state[45]; |
| 2264 | xx[170] = xx[593] + xx[645]; |
| 2265 | xx[384] = xx[170] - (xx[168] * xx[170] * xx[168] + xx[170] * xx[169] * xx[169]) |
| 2266 | * xx[34]; |
| 2267 | xx[545] = xx[148]; |
| 2268 | xx[546] = xx[149]; |
| 2269 | xx[547] = xx[134]; |
| 2270 | pm_math_quatInverseXform(xx + 184, xx + 545, xx + 591); |
| 2271 | xx[170] = xx[44] * state[50]; |
| 2272 | xx[385] = xx[44] * state[51]; |
| 2273 | xx[543] = state[50] - (xx[44] * xx[170] - xx[46] * xx[385]) * xx[34]; |
| 2274 | xx[548] = state[51] - xx[34] * (xx[46] * xx[170] + xx[44] * xx[385]); |
| 2275 | pm_math_cross3(xx + 545, xx + 188, xx + 646); |
| 2276 | xx[545] = xx[646] + xx[544]; |
| 2277 | xx[546] = xx[647] + xx[171]; |
| 2278 | xx[547] = xx[648] + xx[384]; |
| 2279 | pm_math_quatInverseXform(xx + 184, xx + 545, xx + 646); |
| 2280 | xx[184] = xx[543]; |
| 2281 | xx[185] = xx[548]; |
| 2282 | xx[186] = state[52]; |
| 2283 | pm_math_cross3(xx + 184, xx + 51, xx + 545); |
| 2284 | pm_math_quatInverseXform(xx + 408, xx + 5, xx + 184); |
| 2285 | xx[170] = xx[186] + state[54]; |
| 2286 | xx[649] = xx[193]; |
| 2287 | xx[650] = xx[153]; |
| 2288 | xx[651] = xx[160]; |
| 2289 | pm_math_cross3(xx + 5, xx + 649, xx + 652); |
| 2290 | xx[649] = xx[652] + xx[8]; |
| 2291 | xx[650] = xx[653] + xx[16]; |
| 2292 | xx[651] = xx[654] + xx[10]; |
| 2293 | pm_math_quatInverseXform(xx + 408, xx + 649, xx + 652); |
| 2294 | xx[186] = xx[653] + xx[157] * state[54]; |
| 2295 | xx[157] = xx[192] * xx[185] + xx[184] * xx[196]; |
| 2296 | xx[187] = xx[184] - xx[34] * xx[157] * xx[196]; |
| 2297 | xx[385] = xx[185] - xx[34] * xx[157] * xx[192]; |
| 2298 | xx[157] = xx[170] - (xx[192] * xx[170] * xx[192] + xx[170] * xx[196] * xx[196]) |
| 2299 | * xx[34] + state[56]; |
| 2300 | xx[408] = xx[184]; |
| 2301 | xx[409] = xx[185]; |
| 2302 | xx[410] = xx[170]; |
| 2303 | pm_math_cross3(xx + 408, xx + 412, xx + 649); |
| 2304 | xx[408] = xx[649] + xx[652]; |
| 2305 | xx[409] = xx[650] + xx[186]; |
| 2306 | xx[410] = xx[409] * xx[192] + xx[408] * xx[196]; |
| 2307 | xx[411] = xx[408] - xx[34] * xx[410] * xx[196] + xx[198] * state[56]; |
| 2308 | xx[198] = xx[409] - xx[34] * xx[410] * xx[192] + xx[197] * state[56]; |
| 2309 | xx[197] = xx[651] + xx[654]; |
| 2310 | xx[408] = xx[197] - (xx[192] * xx[197] * xx[192] + xx[197] * xx[196] * xx[196]) |
| 2311 | * xx[34]; |
| 2312 | xx[412] = xx[187]; |
| 2313 | xx[413] = xx[385]; |
| 2314 | xx[414] = xx[157]; |
| 2315 | pm_math_quatInverseXform(xx + 212, xx + 412, xx + 649); |
| 2316 | xx[197] = xx[44] * state[61]; |
| 2317 | xx[409] = xx[44] * state[62]; |
| 2318 | xx[410] = state[61] - (xx[44] * xx[197] - xx[46] * xx[409]) * xx[34]; |
| 2319 | xx[549] = state[62] - xx[34] * (xx[46] * xx[197] + xx[44] * xx[409]); |
| 2320 | pm_math_cross3(xx + 412, xx + 216, xx + 655); |
| 2321 | xx[412] = xx[655] + xx[411]; |
| 2322 | xx[413] = xx[656] + xx[198]; |
| 2323 | xx[414] = xx[657] + xx[408]; |
| 2324 | pm_math_quatInverseXform(xx + 212, xx + 412, xx + 655); |
| 2325 | xx[212] = xx[410]; |
| 2326 | xx[213] = xx[549]; |
| 2327 | xx[214] = state[63]; |
| 2328 | pm_math_cross3(xx + 212, xx + 51, xx + 412); |
| 2329 | pm_math_quatInverseXform(xx + 324, xx + 5, xx + 212); |
| 2330 | xx[197] = xx[214] - state[65]; |
| 2331 | xx[658] = xx[225]; |
| 2332 | xx[659] = xx[221]; |
| 2333 | xx[660] = xx[223]; |
| 2334 | pm_math_cross3(xx + 5, xx + 658, xx + 661); |
| 2335 | xx[658] = xx[661] + xx[8]; |
| 2336 | xx[659] = xx[662] + xx[16]; |
| 2337 | xx[660] = xx[663] + xx[10]; |
| 2338 | pm_math_quatInverseXform(xx + 324, xx + 658, xx + 661); |
| 2339 | xx[214] = xx[662] - xx[28] * state[65]; |
| 2340 | xx[215] = xx[230] * xx[213] + xx[212] * xx[231]; |
| 2341 | xx[324] = xx[212] - xx[34] * xx[215] * xx[231]; |
| 2342 | xx[325] = xx[213] - xx[34] * xx[215] * xx[230]; |
| 2343 | xx[215] = xx[197] - (xx[230] * xx[230] * xx[197] + xx[231] * xx[197] * xx[231]) |
| 2344 | * xx[34] + state[67]; |
| 2345 | xx[658] = xx[212]; |
| 2346 | xx[659] = xx[213]; |
| 2347 | xx[660] = xx[197]; |
| 2348 | pm_math_cross3(xx + 658, xx + 328, xx + 664); |
| 2349 | xx[326] = xx[664] + xx[661]; |
| 2350 | xx[327] = xx[665] + xx[214]; |
| 2351 | xx[328] = xx[327] * xx[230] + xx[326] * xx[231]; |
| 2352 | xx[329] = xx[326] - xx[34] * xx[328] * xx[231] + xx[233] * state[67]; |
| 2353 | xx[233] = xx[327] - xx[34] * xx[328] * xx[230] - xx[232] * state[67]; |
| 2354 | xx[232] = xx[666] + xx[663]; |
| 2355 | xx[326] = xx[232] - (xx[230] * xx[232] * xx[230] + xx[232] * xx[231] * xx[231]) |
| 2356 | * xx[34]; |
| 2357 | xx[658] = xx[324]; |
| 2358 | xx[659] = xx[325]; |
| 2359 | xx[660] = xx[215]; |
| 2360 | pm_math_quatInverseXform(xx + 247, xx + 658, xx + 664); |
| 2361 | xx[232] = xx[44] * state[72]; |
| 2362 | xx[327] = xx[44] * state[73]; |
| 2363 | xx[328] = state[72] - (xx[44] * xx[232] - xx[46] * xx[327]) * xx[34]; |
| 2364 | xx[330] = state[73] - xx[34] * (xx[46] * xx[232] + xx[44] * xx[327]); |
| 2365 | pm_math_cross3(xx + 658, xx + 251, xx + 667); |
| 2366 | xx[658] = xx[667] + xx[329]; |
| 2367 | xx[659] = xx[668] + xx[233]; |
| 2368 | xx[660] = xx[669] + xx[326]; |
| 2369 | pm_math_quatInverseXform(xx + 247, xx + 658, xx + 667); |
| 2370 | xx[247] = xx[328]; |
| 2371 | xx[248] = xx[330]; |
| 2372 | xx[249] = state[74]; |
| 2373 | pm_math_cross3(xx + 247, xx + 51, xx + 658); |
| 2374 | pm_math_quatInverseXform(xx + 455, xx + 5, xx + 247); |
| 2375 | xx[232] = xx[249] - state[76]; |
| 2376 | xx[670] = xx[256]; |
| 2377 | xx[671] = xx[263]; |
| 2378 | xx[672] = xx[258]; |
| 2379 | pm_math_cross3(xx + 5, xx + 670, xx + 673); |
| 2380 | xx[670] = xx[673] + xx[8]; |
| 2381 | xx[671] = xx[674] + xx[16]; |
| 2382 | xx[672] = xx[675] + xx[10]; |
| 2383 | pm_math_quatInverseXform(xx + 455, xx + 670, xx + 673); |
| 2384 | xx[249] = xx[674] - xx[28] * state[76]; |
| 2385 | xx[250] = xx[265] * xx[248] + xx[247] * xx[266]; |
| 2386 | xx[327] = xx[247] - xx[34] * xx[250] * xx[266]; |
| 2387 | xx[409] = xx[248] - xx[34] * xx[250] * xx[265]; |
| 2388 | xx[250] = xx[232] - (xx[265] * xx[265] * xx[232] + xx[266] * xx[232] * xx[266]) |
| 2389 | * xx[34] + state[78]; |
| 2390 | xx[455] = xx[247]; |
| 2391 | xx[456] = xx[248]; |
| 2392 | xx[457] = xx[232]; |
| 2393 | pm_math_cross3(xx + 455, xx + 459, xx + 670); |
| 2394 | xx[455] = xx[670] + xx[673]; |
| 2395 | xx[456] = xx[671] + xx[249]; |
| 2396 | xx[457] = xx[456] * xx[265] + xx[455] * xx[266]; |
| 2397 | xx[458] = xx[455] - xx[34] * xx[457] * xx[266] - xx[267] * state[78]; |
| 2398 | xx[267] = xx[456] - xx[34] * xx[457] * xx[265] - xx[264] * state[78]; |
| 2399 | xx[264] = xx[672] + xx[675]; |
| 2400 | xx[455] = xx[264] - (xx[265] * xx[264] * xx[265] + xx[264] * xx[266] * xx[266]) |
| 2401 | * xx[34]; |
| 2402 | xx[459] = xx[327]; |
| 2403 | xx[460] = xx[409]; |
| 2404 | xx[461] = xx[250]; |
| 2405 | pm_math_quatInverseXform(xx + 280, xx + 459, xx + 670); |
| 2406 | xx[264] = xx[44] * state[83]; |
| 2407 | xx[456] = xx[44] * state[84]; |
| 2408 | xx[457] = state[83] - (xx[44] * xx[264] - xx[46] * xx[456]) * xx[34]; |
| 2409 | xx[625] = state[84] - xx[34] * (xx[46] * xx[264] + xx[44] * xx[456]); |
| 2410 | pm_math_cross3(xx + 459, xx + 284, xx + 676); |
| 2411 | xx[459] = xx[676] + xx[458]; |
| 2412 | xx[460] = xx[677] + xx[267]; |
| 2413 | xx[461] = xx[678] + xx[455]; |
| 2414 | pm_math_quatInverseXform(xx + 280, xx + 459, xx + 676); |
| 2415 | xx[280] = xx[457]; |
| 2416 | xx[281] = xx[625]; |
| 2417 | xx[282] = state[85]; |
| 2418 | pm_math_cross3(xx + 280, xx + 51, xx + 459); |
| 2419 | pm_math_quatInverseXform(xx + 500, xx + 5, xx + 280); |
| 2420 | xx[264] = xx[282] - state[87]; |
| 2421 | xx[679] = xx[289]; |
| 2422 | xx[680] = xx[297]; |
| 2423 | xx[681] = xx[287]; |
| 2424 | pm_math_cross3(xx + 5, xx + 679, xx + 682); |
| 2425 | xx[679] = xx[682] + xx[8]; |
| 2426 | xx[680] = xx[683] + xx[16]; |
| 2427 | xx[681] = xx[684] + xx[10]; |
| 2428 | pm_math_quatInverseXform(xx + 500, xx + 679, xx + 682); |
| 2429 | xx[282] = xx[683] - xx[28] * state[87]; |
| 2430 | xx[28] = xx[4] * xx[281] + xx[280] * xx[298]; |
| 2431 | xx[283] = xx[280] - xx[34] * xx[28] * xx[298]; |
| 2432 | xx[456] = xx[281] - xx[34] * xx[28] * xx[4]; |
| 2433 | xx[28] = xx[264] - (xx[4] * xx[4] * xx[264] + xx[298] * xx[264] * xx[298]) * |
| 2434 | xx[34] + state[89]; |
| 2435 | xx[500] = xx[280]; |
| 2436 | xx[501] = xx[281]; |
| 2437 | xx[502] = xx[264]; |
| 2438 | pm_math_cross3(xx + 500, xx + 303, xx + 679); |
| 2439 | xx[500] = xx[679] + xx[682]; |
| 2440 | xx[501] = xx[680] + xx[282]; |
| 2441 | xx[502] = xx[501] * xx[4] + xx[500] * xx[298]; |
| 2442 | xx[503] = xx[500] - xx[34] * xx[502] * xx[298] - xx[300] * state[89]; |
| 2443 | xx[300] = xx[501] - xx[34] * xx[502] * xx[4] - xx[299] * state[89]; |
| 2444 | xx[299] = xx[681] + xx[684]; |
| 2445 | xx[500] = xx[299] - (xx[4] * xx[299] * xx[4] + xx[299] * xx[298] * xx[298]) * |
| 2446 | xx[34]; |
| 2447 | xx[679] = xx[283]; |
| 2448 | xx[680] = xx[456]; |
| 2449 | xx[681] = xx[28]; |
| 2450 | pm_math_quatInverseXform(xx + 314, xx + 679, xx + 685); |
| 2451 | xx[299] = xx[44] * state[94]; |
| 2452 | xx[501] = xx[44] * state[95]; |
| 2453 | xx[502] = state[94] - (xx[44] * xx[299] - xx[46] * xx[501]) * xx[34]; |
| 2454 | xx[626] = state[95] - xx[34] * (xx[46] * xx[299] + xx[44] * xx[501]); |
| 2455 | pm_math_cross3(xx + 679, xx + 318, xx + 688); |
| 2456 | xx[679] = xx[688] + xx[503]; |
| 2457 | xx[680] = xx[689] + xx[300]; |
| 2458 | xx[681] = xx[690] + xx[500]; |
| 2459 | pm_math_quatInverseXform(xx + 314, xx + 679, xx + 688); |
| 2460 | xx[314] = xx[502]; |
| 2461 | xx[315] = xx[626]; |
| 2462 | xx[316] = state[96]; |
| 2463 | pm_math_cross3(xx + 314, xx + 51, xx + 679); |
| 2464 | motionData[0] = xx[0]; |
| 2465 | motionData[1] = xx[0]; |
| 2466 | motionData[2] = xx[2]; |
| 2467 | motionData[3] = xx[2]; |
| 2468 | motionData[4] = - state[0]; |
| 2469 | motionData[5] = state[2]; |
| 2470 | motionData[6] = state[1]; |
| 2471 | motionData[7] = xx[22]; |
| 2472 | motionData[8] = xx[23]; |
| 2473 | motionData[9] = xx[24]; |
| 2474 | motionData[10] = xx[25]; |
| 2475 | motionData[11] = - xx[19]; |
| 2476 | motionData[12] = - xx[20]; |
| 2477 | motionData[13] = - xx[21]; |
| 2478 | motionData[14] = xx[9]; |
| 2479 | motionData[15] = xx[32]; |
| 2480 | motionData[16] = xx[33]; |
| 2481 | motionData[17] = xx[3]; |
| 2482 | motionData[18] = xx[35]; |
| 2483 | motionData[19] = xx[27]; |
| 2484 | motionData[20] = xx[36]; |
| 2485 | motionData[21] = xx[0]; |
| 2486 | motionData[22] = - xx[38]; |
| 2487 | motionData[23] = xx[39]; |
| 2488 | motionData[24] = xx[0]; |
| 2489 | motionData[25] = xx[42]; |
| 2490 | motionData[26] = xx[41]; |
| 2491 | motionData[27] = xx[45]; |
| 2492 | motionData[28] = xx[47]; |
| 2493 | motionData[29] = xx[48]; |
| 2494 | motionData[30] = xx[49]; |
| 2495 | motionData[31] = xx[50]; |
| 2496 | motionData[32] = xx[54]; |
| 2497 | motionData[33] = xx[55]; |
| 2498 | motionData[34] = xx[56]; |
| 2499 | motionData[35] = xx[58]; |
| 2500 | motionData[36] = xx[59]; |
| 2501 | motionData[37] = xx[61]; |
| 2502 | motionData[38] = xx[57]; |
| 2503 | motionData[39] = xx[73]; |
| 2504 | motionData[40] = xx[74]; |
| 2505 | motionData[41] = xx[70]; |
| 2506 | motionData[42] = xx[72]; |
| 2507 | motionData[43] = xx[0]; |
| 2508 | motionData[44] = xx[0]; |
| 2509 | motionData[45] = xx[75]; |
| 2510 | motionData[46] = xx[78]; |
| 2511 | motionData[47] = xx[76]; |
| 2512 | motionData[48] = xx[80]; |
| 2513 | motionData[49] = xx[82]; |
| 2514 | motionData[50] = xx[0]; |
| 2515 | motionData[51] = xx[0]; |
| 2516 | motionData[52] = - xx[83]; |
| 2517 | motionData[53] = xx[88]; |
| 2518 | motionData[54] = xx[84]; |
| 2519 | motionData[55] = xx[86]; |
| 2520 | motionData[56] = xx[95]; |
| 2521 | motionData[57] = xx[98]; |
| 2522 | motionData[58] = xx[99]; |
| 2523 | motionData[59] = xx[91]; |
| 2524 | motionData[60] = xx[104]; |
| 2525 | motionData[61] = xx[105]; |
| 2526 | motionData[62] = xx[106]; |
| 2527 | motionData[63] = xx[114]; |
| 2528 | motionData[64] = xx[110]; |
| 2529 | motionData[65] = xx[112]; |
| 2530 | motionData[66] = xx[116]; |
| 2531 | motionData[67] = xx[123]; |
| 2532 | motionData[68] = xx[124]; |
| 2533 | motionData[69] = xx[125]; |
| 2534 | motionData[70] = xx[107]; |
| 2535 | motionData[71] = xx[115]; |
| 2536 | motionData[72] = xx[130]; |
| 2537 | motionData[73] = xx[128]; |
| 2538 | motionData[74] = xx[136]; |
| 2539 | motionData[75] = xx[137]; |
| 2540 | motionData[76] = xx[138]; |
| 2541 | motionData[77] = xx[90]; |
| 2542 | motionData[78] = xx[141]; |
| 2543 | motionData[79] = xx[145]; |
| 2544 | motionData[80] = xx[140]; |
| 2545 | motionData[81] = xx[150]; |
| 2546 | motionData[82] = xx[151]; |
| 2547 | motionData[83] = xx[152]; |
| 2548 | motionData[84] = xx[155]; |
| 2549 | motionData[85] = xx[161]; |
| 2550 | motionData[86] = xx[162]; |
| 2551 | motionData[87] = xx[163]; |
| 2552 | motionData[88] = xx[158]; |
| 2553 | motionData[89] = xx[167]; |
| 2554 | motionData[90] = xx[164]; |
| 2555 | motionData[91] = xx[0]; |
| 2556 | motionData[92] = - xx[168]; |
| 2557 | motionData[93] = xx[169]; |
| 2558 | motionData[94] = xx[0]; |
| 2559 | motionData[95] = xx[174]; |
| 2560 | motionData[96] = xx[175]; |
| 2561 | motionData[97] = xx[172]; |
| 2562 | motionData[98] = xx[177]; |
| 2563 | motionData[99] = xx[179]; |
| 2564 | motionData[100] = xx[181]; |
| 2565 | motionData[101] = xx[183]; |
| 2566 | motionData[102] = xx[188]; |
| 2567 | motionData[103] = xx[189]; |
| 2568 | motionData[104] = xx[190]; |
| 2569 | motionData[105] = xx[191]; |
| 2570 | motionData[106] = xx[194]; |
| 2571 | motionData[107] = xx[195]; |
| 2572 | motionData[108] = xx[159]; |
| 2573 | motionData[109] = xx[193]; |
| 2574 | motionData[110] = xx[153]; |
| 2575 | motionData[111] = xx[160]; |
| 2576 | motionData[112] = xx[0]; |
| 2577 | motionData[113] = - xx[192]; |
| 2578 | motionData[114] = xx[196]; |
| 2579 | motionData[115] = xx[0]; |
| 2580 | motionData[116] = xx[201]; |
| 2581 | motionData[117] = xx[199]; |
| 2582 | motionData[118] = xx[203]; |
| 2583 | motionData[119] = xx[205]; |
| 2584 | motionData[120] = xx[207]; |
| 2585 | motionData[121] = xx[209]; |
| 2586 | motionData[122] = xx[211]; |
| 2587 | motionData[123] = xx[216]; |
| 2588 | motionData[124] = xx[217]; |
| 2589 | motionData[125] = xx[218]; |
| 2590 | motionData[126] = xx[220]; |
| 2591 | motionData[127] = xx[227]; |
| 2592 | motionData[128] = xx[228]; |
| 2593 | motionData[129] = xx[219]; |
| 2594 | motionData[130] = xx[225]; |
| 2595 | motionData[131] = xx[221]; |
| 2596 | motionData[132] = xx[223]; |
| 2597 | motionData[133] = xx[0]; |
| 2598 | motionData[134] = - xx[230]; |
| 2599 | motionData[135] = xx[231]; |
| 2600 | motionData[136] = xx[0]; |
| 2601 | motionData[137] = xx[236]; |
| 2602 | motionData[138] = xx[234]; |
| 2603 | motionData[139] = xx[238]; |
| 2604 | motionData[140] = xx[240]; |
| 2605 | motionData[141] = xx[242]; |
| 2606 | motionData[142] = xx[244]; |
| 2607 | motionData[143] = xx[246]; |
| 2608 | motionData[144] = xx[251]; |
| 2609 | motionData[145] = xx[252]; |
| 2610 | motionData[146] = xx[253]; |
| 2611 | motionData[147] = xx[255]; |
| 2612 | motionData[148] = xx[261]; |
| 2613 | motionData[149] = xx[262]; |
| 2614 | motionData[150] = xx[254]; |
| 2615 | motionData[151] = xx[256]; |
| 2616 | motionData[152] = xx[263]; |
| 2617 | motionData[153] = xx[258]; |
| 2618 | motionData[154] = xx[0]; |
| 2619 | motionData[155] = - xx[265]; |
| 2620 | motionData[156] = xx[266]; |
| 2621 | motionData[157] = xx[0]; |
| 2622 | motionData[158] = xx[270]; |
| 2623 | motionData[159] = xx[271]; |
| 2624 | motionData[160] = xx[268]; |
| 2625 | motionData[161] = xx[273]; |
| 2626 | motionData[162] = xx[275]; |
| 2627 | motionData[163] = xx[277]; |
| 2628 | motionData[164] = xx[279]; |
| 2629 | motionData[165] = xx[284]; |
| 2630 | motionData[166] = xx[285]; |
| 2631 | motionData[167] = xx[286]; |
| 2632 | motionData[168] = xx[288]; |
| 2633 | motionData[169] = xx[295]; |
| 2634 | motionData[170] = xx[296]; |
| 2635 | motionData[171] = xx[292]; |
| 2636 | motionData[172] = xx[289]; |
| 2637 | motionData[173] = xx[297]; |
| 2638 | motionData[174] = xx[287]; |
| 2639 | motionData[175] = xx[0]; |
| 2640 | motionData[176] = - xx[4]; |
| 2641 | motionData[177] = xx[298]; |
| 2642 | motionData[178] = xx[0]; |
| 2643 | motionData[179] = xx[303]; |
| 2644 | motionData[180] = xx[304]; |
| 2645 | motionData[181] = xx[305]; |
| 2646 | motionData[182] = xx[307]; |
| 2647 | motionData[183] = xx[309]; |
| 2648 | motionData[184] = xx[311]; |
| 2649 | motionData[185] = xx[313]; |
| 2650 | motionData[186] = xx[318]; |
| 2651 | motionData[187] = xx[319]; |
| 2652 | motionData[188] = xx[320]; |
| 2653 | motionData[189] = xx[321]; |
| 2654 | motionData[190] = xx[322]; |
| 2655 | motionData[191] = xx[323]; |
| 2656 | motionData[192] = xx[224]; |
| 2657 | motionData[193] = xx[226]; |
| 2658 | motionData[194] = xx[334]; |
| 2659 | motionData[195] = xx[331]; |
| 2660 | motionData[196] = xx[339]; |
| 2661 | motionData[197] = xx[340]; |
| 2662 | motionData[198] = xx[341]; |
| 2663 | motionData[199] = xx[342]; |
| 2664 | motionData[200] = xx[343] + xx[226]; |
| 2665 | motionData[201] = xx[344] + xx[334]; |
| 2666 | motionData[202] = xx[345] + xx[331]; |
| 2667 | motionData[203] = xx[222]; |
| 2668 | motionData[204] = xx[332]; |
| 2669 | motionData[205] = xx[333]; |
| 2670 | motionData[206] = xx[29]; |
| 2671 | motionData[207] = xx[31]; |
| 2672 | motionData[208] = xx[352]; |
| 2673 | motionData[209] = xx[349]; |
| 2674 | motionData[210] = xx[357]; |
| 2675 | motionData[211] = xx[358]; |
| 2676 | motionData[212] = xx[359]; |
| 2677 | motionData[213] = xx[360]; |
| 2678 | motionData[214] = xx[30]; |
| 2679 | motionData[215] = xx[350]; |
| 2680 | motionData[216] = xx[351]; |
| 2681 | motionData[217] = xx[353]; |
| 2682 | motionData[218] = xx[354]; |
| 2683 | motionData[219] = xx[355]; |
| 2684 | motionData[220] = xx[356]; |
| 2685 | motionData[221] = xx[367]; |
| 2686 | motionData[222] = xx[368]; |
| 2687 | motionData[223] = xx[364]; |
| 2688 | motionData[224] = xx[365]; |
| 2689 | motionData[225] = xx[366]; |
| 2690 | motionData[226] = xx[369]; |
| 2691 | motionData[227] = xx[370]; |
| 2692 | motionData[228] = xx[377]; |
| 2693 | motionData[229] = xx[378]; |
| 2694 | motionData[230] = xx[374]; |
| 2695 | motionData[231] = xx[82] * xx[365] + xx[370] * xx[83]; |
| 2696 | motionData[232] = xx[366] * xx[82] - xx[83] * xx[369]; |
| 2697 | motionData[233] = xx[82] * xx[369] + xx[366] * xx[83]; |
| 2698 | motionData[234] = xx[370] * xx[82] - xx[83] * xx[365]; |
| 2699 | motionData[235] = xx[386] + xx[377]; |
| 2700 | motionData[236] = xx[387] + xx[378]; |
| 2701 | motionData[237] = xx[388] + xx[374]; |
| 2702 | motionData[238] = xx[243] * xx[231] - xx[230] * xx[241]; |
| 2703 | motionData[239] = - (xx[231] * xx[245] + xx[230] * xx[240]); |
| 2704 | motionData[240] = xx[231] * xx[240] - xx[230] * xx[245]; |
| 2705 | motionData[241] = xx[243] * xx[230] + xx[231] * xx[241]; |
| 2706 | motionData[242] = xx[251] - (xx[34] * xx[375] * xx[231] + xx[235]) + xx[229]; |
| 2707 | motionData[243] = xx[252] - xx[34] * xx[375] * xx[230] - xx[237]; |
| 2708 | motionData[244] = xx[253] - ((xx[230] * xx[230] * xx[253] + xx[253] * xx[231] * |
| 2709 | xx[231]) * xx[34] + xx[239]) + xx[26]; |
| 2710 | motionData[245] = xx[376]; |
| 2711 | motionData[246] = xx[0]; |
| 2712 | motionData[247] = xx[0]; |
| 2713 | motionData[248] = xx[389]; |
| 2714 | motionData[249] = xx[392]; |
| 2715 | motionData[250] = xx[87]; |
| 2716 | motionData[251] = xx[89]; |
| 2717 | motionData[252] = xx[390]; |
| 2718 | motionData[253] = xx[391]; |
| 2719 | motionData[254] = xx[393]; |
| 2720 | motionData[255] = xx[60]; |
| 2721 | motionData[256] = xx[62]; |
| 2722 | motionData[257] = xx[394]; |
| 2723 | motionData[258] = xx[395]; |
| 2724 | motionData[259] = xx[400]; |
| 2725 | motionData[260] = xx[401]; |
| 2726 | motionData[261] = xx[402]; |
| 2727 | motionData[262] = xx[403]; |
| 2728 | motionData[263] = xx[396]; |
| 2729 | motionData[264] = xx[397]; |
| 2730 | motionData[265] = xx[398]; |
| 2731 | motionData[266] = xx[38] * xx[401] - xx[402] * xx[39]; |
| 2732 | motionData[267] = xx[403] * xx[39] - xx[38] * xx[400]; |
| 2733 | motionData[268] = xx[400] * xx[39] + xx[38] * xx[403]; |
| 2734 | motionData[269] = - (xx[38] * xx[402] + xx[401] * xx[39]); |
| 2735 | motionData[270] = xx[396] - xx[34] * xx[399] * xx[39] + xx[42]; |
| 2736 | motionData[271] = xx[397] - xx[34] * xx[399] * xx[38] - xx[43]; |
| 2737 | motionData[272] = xx[398] - (xx[38] * xx[398] * xx[38] + xx[398] * xx[39] * |
| 2738 | xx[39]) * xx[34] + xx[45]; |
| 2739 | motionData[273] = xx[404]; |
| 2740 | motionData[274] = xx[405]; |
| 2741 | motionData[275] = xx[406]; |
| 2742 | motionData[276] = xx[407]; |
| 2743 | motionData[277] = xx[418]; |
| 2744 | motionData[278] = xx[419]; |
| 2745 | motionData[279] = xx[415]; |
| 2746 | motionData[280] = xx[420]; |
| 2747 | motionData[281] = xx[421]; |
| 2748 | motionData[282] = xx[422]; |
| 2749 | motionData[283] = xx[423]; |
| 2750 | motionData[284] = xx[424] + xx[418]; |
| 2751 | motionData[285] = xx[425] + xx[419]; |
| 2752 | motionData[286] = xx[426] + xx[415]; |
| 2753 | motionData[287] = xx[427]; |
| 2754 | motionData[288] = xx[428]; |
| 2755 | motionData[289] = xx[429]; |
| 2756 | motionData[290] = xx[430]; |
| 2757 | motionData[291] = xx[431] + xx[377]; |
| 2758 | motionData[292] = xx[432] + xx[378]; |
| 2759 | motionData[293] = xx[433] + xx[374]; |
| 2760 | motionData[294] = xx[208] * xx[196] - xx[192] * xx[206]; |
| 2761 | motionData[295] = - (xx[196] * xx[210] + xx[192] * xx[205]); |
| 2762 | motionData[296] = xx[196] * xx[205] - xx[192] * xx[210]; |
| 2763 | motionData[297] = xx[208] * xx[192] + xx[196] * xx[206]; |
| 2764 | motionData[298] = xx[216] - (xx[34] * xx[416] * xx[196] - xx[200]) + xx[156]; |
| 2765 | motionData[299] = xx[217] - xx[34] * xx[416] * xx[192] - xx[202]; |
| 2766 | motionData[300] = xx[218] - ((xx[192] * xx[192] * xx[218] + xx[218] * xx[196] * |
| 2767 | xx[196]) * xx[34] + xx[204]) + xx[26]; |
| 2768 | motionData[301] = xx[417]; |
| 2769 | motionData[302] = xx[434]; |
| 2770 | motionData[303] = xx[435]; |
| 2771 | motionData[304] = xx[92]; |
| 2772 | motionData[305] = xx[437]; |
| 2773 | motionData[306] = xx[438]; |
| 2774 | motionData[307] = xx[94]; |
| 2775 | motionData[308] = xx[443]; |
| 2776 | motionData[309] = xx[444]; |
| 2777 | motionData[310] = xx[445]; |
| 2778 | motionData[311] = xx[446]; |
| 2779 | motionData[312] = xx[108]; |
| 2780 | motionData[313] = xx[436]; |
| 2781 | motionData[314] = xx[439]; |
| 2782 | motionData[315] = xx[447]; |
| 2783 | motionData[316] = xx[448]; |
| 2784 | motionData[317] = xx[449]; |
| 2785 | motionData[318] = xx[450]; |
| 2786 | motionData[319] = xx[440]; |
| 2787 | motionData[320] = xx[441]; |
| 2788 | motionData[321] = xx[442]; |
| 2789 | motionData[322] = xx[38] * xx[448] - xx[449] * xx[39]; |
| 2790 | motionData[323] = xx[450] * xx[39] - xx[38] * xx[447]; |
| 2791 | motionData[324] = xx[447] * xx[39] + xx[38] * xx[450]; |
| 2792 | motionData[325] = - (xx[38] * xx[449] + xx[448] * xx[39]); |
| 2793 | motionData[326] = xx[440] - xx[34] * xx[451] * xx[39] + xx[42]; |
| 2794 | motionData[327] = xx[441] - xx[34] * xx[451] * xx[38] - xx[43]; |
| 2795 | motionData[328] = xx[442] - (xx[38] * xx[442] * xx[38] + xx[442] * xx[39] * |
| 2796 | xx[39]) * xx[34] + xx[45]; |
| 2797 | motionData[329] = xx[452]; |
| 2798 | motionData[330] = xx[453]; |
| 2799 | motionData[331] = xx[454]; |
| 2800 | motionData[332] = xx[259]; |
| 2801 | motionData[333] = xx[465]; |
| 2802 | motionData[334] = xx[260]; |
| 2803 | motionData[335] = xx[462]; |
| 2804 | motionData[336] = xx[470]; |
| 2805 | motionData[337] = xx[471]; |
| 2806 | motionData[338] = xx[472]; |
| 2807 | motionData[339] = xx[473]; |
| 2808 | motionData[340] = xx[474] + xx[465]; |
| 2809 | motionData[341] = xx[475] + xx[260]; |
| 2810 | motionData[342] = xx[476] + xx[462]; |
| 2811 | motionData[343] = xx[466]; |
| 2812 | motionData[344] = xx[467]; |
| 2813 | motionData[345] = xx[468]; |
| 2814 | motionData[346] = xx[469]; |
| 2815 | motionData[347] = xx[477] + xx[377]; |
| 2816 | motionData[348] = xx[478] + xx[378]; |
| 2817 | motionData[349] = xx[479] + xx[374]; |
| 2818 | motionData[350] = xx[276] * xx[266] - xx[265] * xx[274]; |
| 2819 | motionData[351] = - (xx[266] * xx[278] + xx[265] * xx[273]); |
| 2820 | motionData[352] = xx[266] * xx[273] - xx[265] * xx[278]; |
| 2821 | motionData[353] = xx[276] * xx[265] + xx[266] * xx[274]; |
| 2822 | motionData[354] = xx[284] - (xx[34] * xx[257] * xx[266] + xx[269]) + xx[229]; |
| 2823 | motionData[355] = xx[285] - xx[34] * xx[257] * xx[265] + xx[271]; |
| 2824 | motionData[356] = xx[286] - ((xx[265] * xx[265] * xx[286] + xx[286] * xx[266] * |
| 2825 | xx[266]) * xx[34] + xx[272]) + xx[26]; |
| 2826 | motionData[357] = xx[463]; |
| 2827 | motionData[358] = xx[464]; |
| 2828 | motionData[359] = xx[480]; |
| 2829 | motionData[360] = xx[117]; |
| 2830 | motionData[361] = xx[482]; |
| 2831 | motionData[362] = xx[122]; |
| 2832 | motionData[363] = xx[113]; |
| 2833 | motionData[364] = xx[487]; |
| 2834 | motionData[365] = xx[488]; |
| 2835 | motionData[366] = xx[489]; |
| 2836 | motionData[367] = xx[490]; |
| 2837 | motionData[368] = xx[126]; |
| 2838 | motionData[369] = xx[481]; |
| 2839 | motionData[370] = xx[483]; |
| 2840 | motionData[371] = xx[491]; |
| 2841 | motionData[372] = xx[492]; |
| 2842 | motionData[373] = xx[493]; |
| 2843 | motionData[374] = xx[494]; |
| 2844 | motionData[375] = xx[484]; |
| 2845 | motionData[376] = xx[485]; |
| 2846 | motionData[377] = xx[486]; |
| 2847 | motionData[378] = xx[38] * xx[492] - xx[493] * xx[39]; |
| 2848 | motionData[379] = xx[494] * xx[39] - xx[38] * xx[491]; |
| 2849 | motionData[380] = xx[491] * xx[39] + xx[38] * xx[494]; |
| 2850 | motionData[381] = - (xx[38] * xx[493] + xx[492] * xx[39]); |
| 2851 | motionData[382] = xx[484] - xx[34] * xx[495] * xx[39] + xx[42]; |
| 2852 | motionData[383] = xx[485] - xx[34] * xx[495] * xx[38] - xx[43]; |
| 2853 | motionData[384] = xx[486] - (xx[38] * xx[486] * xx[38] + xx[486] * xx[39] * |
| 2854 | xx[39]) * xx[34] + xx[45]; |
| 2855 | motionData[385] = xx[496]; |
| 2856 | motionData[386] = xx[497]; |
| 2857 | motionData[387] = xx[498]; |
| 2858 | motionData[388] = xx[499]; |
| 2859 | motionData[389] = xx[294]; |
| 2860 | motionData[390] = xx[293]; |
| 2861 | motionData[391] = xx[504]; |
| 2862 | motionData[392] = xx[505]; |
| 2863 | motionData[393] = xx[506]; |
| 2864 | motionData[394] = xx[507]; |
| 2865 | motionData[395] = xx[508]; |
| 2866 | motionData[396] = xx[509] + xx[294]; |
| 2867 | motionData[397] = xx[510] + xx[293]; |
| 2868 | motionData[398] = xx[511] + xx[504]; |
| 2869 | motionData[399] = xx[512]; |
| 2870 | motionData[400] = xx[513]; |
| 2871 | motionData[401] = xx[514]; |
| 2872 | motionData[402] = xx[515]; |
| 2873 | motionData[403] = xx[516] + xx[377]; |
| 2874 | motionData[404] = xx[517] + xx[378]; |
| 2875 | motionData[405] = xx[518] + xx[374]; |
| 2876 | motionData[406] = xx[310] * xx[298] - xx[4] * xx[308]; |
| 2877 | motionData[407] = - (xx[298] * xx[312] + xx[4] * xx[307]); |
| 2878 | motionData[408] = xx[298] * xx[307] - xx[4] * xx[312]; |
| 2879 | motionData[409] = xx[310] * xx[4] + xx[298] * xx[308]; |
| 2880 | motionData[410] = xx[318] - (xx[34] * xx[290] * xx[298] + xx[302]) + xx[291]; |
| 2881 | motionData[411] = xx[319] - xx[34] * xx[290] * xx[4] + xx[304]; |
| 2882 | motionData[412] = xx[320] - ((xx[4] * xx[4] * xx[320] + xx[320] * xx[298] * |
| 2883 | xx[298]) * xx[34] + xx[306]) + xx[301]; |
| 2884 | motionData[413] = xx[519]; |
| 2885 | motionData[414] = xx[520]; |
| 2886 | motionData[415] = xx[521]; |
| 2887 | motionData[416] = xx[522]; |
| 2888 | motionData[417] = xx[525]; |
| 2889 | motionData[418] = xx[135]; |
| 2890 | motionData[419] = xx[139]; |
| 2891 | motionData[420] = xx[526]; |
| 2892 | motionData[421] = xx[527]; |
| 2893 | motionData[422] = xx[528]; |
| 2894 | motionData[423] = xx[529]; |
| 2895 | motionData[424] = xx[523]; |
| 2896 | motionData[425] = xx[524]; |
| 2897 | motionData[426] = xx[530]; |
| 2898 | motionData[427] = xx[531]; |
| 2899 | motionData[428] = xx[532]; |
| 2900 | motionData[429] = xx[533]; |
| 2901 | motionData[430] = xx[534]; |
| 2902 | motionData[431] = xx[535]; |
| 2903 | motionData[432] = xx[536]; |
| 2904 | motionData[433] = xx[537]; |
| 2905 | motionData[434] = xx[38] * xx[532] - xx[533] * xx[39]; |
| 2906 | motionData[435] = xx[534] * xx[39] - xx[38] * xx[531]; |
| 2907 | motionData[436] = xx[531] * xx[39] + xx[38] * xx[534]; |
| 2908 | motionData[437] = - (xx[38] * xx[533] + xx[532] * xx[39]); |
| 2909 | motionData[438] = xx[535] - xx[34] * xx[538] * xx[39] + xx[42]; |
| 2910 | motionData[439] = xx[536] - xx[34] * xx[538] * xx[38] - xx[43]; |
| 2911 | motionData[440] = xx[537] - (xx[38] * xx[537] * xx[38] + xx[537] * xx[39] * |
| 2912 | xx[39]) * xx[34] + xx[45]; |
| 2913 | motionData[441] = xx[539]; |
| 2914 | motionData[442] = xx[540]; |
| 2915 | motionData[443] = xx[541]; |
| 2916 | motionData[444] = xx[542]; |
| 2917 | motionData[445] = xx[553]; |
| 2918 | motionData[446] = xx[166]; |
| 2919 | motionData[447] = xx[550]; |
| 2920 | motionData[448] = xx[554]; |
| 2921 | motionData[449] = xx[555]; |
| 2922 | motionData[450] = xx[556]; |
| 2923 | motionData[451] = xx[557]; |
| 2924 | motionData[452] = xx[558] + xx[553]; |
| 2925 | motionData[453] = xx[559] + xx[166]; |
| 2926 | motionData[454] = xx[560] + xx[550]; |
| 2927 | motionData[455] = xx[561]; |
| 2928 | motionData[456] = xx[562]; |
| 2929 | motionData[457] = xx[563]; |
| 2930 | motionData[458] = xx[564]; |
| 2931 | motionData[459] = xx[565] + xx[377]; |
| 2932 | motionData[460] = xx[566] + xx[378]; |
| 2933 | motionData[461] = xx[567] + xx[374]; |
| 2934 | motionData[462] = xx[180] * xx[169] - xx[168] * xx[178]; |
| 2935 | motionData[463] = - (xx[169] * xx[182] + xx[168] * xx[177]); |
| 2936 | motionData[464] = xx[169] * xx[177] - xx[168] * xx[182]; |
| 2937 | motionData[465] = xx[180] * xx[168] + xx[169] * xx[178]; |
| 2938 | motionData[466] = xx[188] - (xx[34] * xx[379] * xx[169] + xx[173]) + xx[165]; |
| 2939 | motionData[467] = xx[189] - xx[34] * xx[379] * xx[168] + xx[175]; |
| 2940 | motionData[468] = xx[190] - ((xx[168] * xx[168] * xx[190] + xx[190] * xx[169] * |
| 2941 | xx[169]) * xx[34] + xx[176]) + xx[26]; |
| 2942 | motionData[469] = xx[380]; |
| 2943 | motionData[470] = xx[381]; |
| 2944 | motionData[471] = xx[382]; |
| 2945 | motionData[472] = xx[96]; |
| 2946 | motionData[473] = xx[552]; |
| 2947 | motionData[474] = xx[77]; |
| 2948 | motionData[475] = xx[79]; |
| 2949 | motionData[476] = xx[572]; |
| 2950 | motionData[477] = xx[573]; |
| 2951 | motionData[478] = xx[574]; |
| 2952 | motionData[479] = xx[575]; |
| 2953 | motionData[480] = xx[143]; |
| 2954 | motionData[481] = xx[154]; |
| 2955 | motionData[482] = xx[551]; |
| 2956 | motionData[483] = xx[568]; |
| 2957 | motionData[484] = xx[569]; |
| 2958 | motionData[485] = xx[570]; |
| 2959 | motionData[486] = xx[571]; |
| 2960 | motionData[487] = xx[576]; |
| 2961 | motionData[488] = xx[577]; |
| 2962 | motionData[489] = xx[578]; |
| 2963 | motionData[490] = xx[38] * xx[569] - xx[570] * xx[39]; |
| 2964 | motionData[491] = xx[571] * xx[39] - xx[38] * xx[568]; |
| 2965 | motionData[492] = xx[568] * xx[39] + xx[38] * xx[571]; |
| 2966 | motionData[493] = - (xx[38] * xx[570] + xx[569] * xx[39]); |
| 2967 | motionData[494] = xx[576] - xx[34] * xx[579] * xx[39] + xx[42]; |
| 2968 | motionData[495] = xx[577] - xx[34] * xx[579] * xx[38] - xx[43]; |
| 2969 | motionData[496] = xx[578] - (xx[38] * xx[578] * xx[38] + xx[578] * xx[39] * |
| 2970 | xx[39]) * xx[34] + xx[45]; |
| 2971 | motionData[497] = xx[582]; |
| 2972 | motionData[498] = xx[583]; |
| 2973 | motionData[499] = xx[584]; |
| 2974 | motionData[500] = xx[585]; |
| 2975 | motionData[501] = xx[581]; |
| 2976 | motionData[502] = xx[1]; |
| 2977 | motionData[503] = xx[586]; |
| 2978 | motionData[504] = xx[587]; |
| 2979 | motionData[505] = xx[588]; |
| 2980 | motionData[506] = xx[589]; |
| 2981 | motionData[507] = xx[590]; |
| 2982 | motionData[508] = xx[580]; |
| 2983 | motionData[509] = xx[597]; |
| 2984 | motionData[510] = xx[594]; |
| 2985 | motionData[511] = xx[595]; |
| 2986 | motionData[512] = xx[596]; |
| 2987 | motionData[513] = xx[598]; |
| 2988 | motionData[514] = xx[599]; |
| 2989 | motionData[515] = xx[603]; |
| 2990 | motionData[516] = xx[604]; |
| 2991 | motionData[517] = xx[600]; |
| 2992 | motionData[518] = xx[609]; |
| 2993 | motionData[519] = xx[610]; |
| 2994 | motionData[520] = xx[611]; |
| 2995 | motionData[521] = xx[612]; |
| 2996 | motionData[522] = xx[601]; |
| 2997 | motionData[523] = xx[602]; |
| 2998 | motionData[524] = xx[605]; |
| 2999 | motionData[525] = xx[613]; |
| 3000 | motionData[526] = xx[614]; |
| 3001 | motionData[527] = xx[615]; |
| 3002 | motionData[528] = xx[616]; |
| 3003 | motionData[529] = xx[617]; |
| 3004 | motionData[530] = xx[618]; |
| 3005 | motionData[531] = xx[606]; |
| 3006 | motionData[532] = xx[72] * xx[613] - xx[616] * xx[75]; |
| 3007 | motionData[533] = xx[72] * xx[614] + xx[615] * xx[75]; |
| 3008 | motionData[534] = xx[72] * xx[615] - xx[614] * xx[75]; |
| 3009 | motionData[535] = xx[613] * xx[75] + xx[72] * xx[616]; |
| 3010 | motionData[536] = xx[619] + xx[617]; |
| 3011 | motionData[537] = xx[620] + xx[618]; |
| 3012 | motionData[538] = xx[621] + xx[606]; |
| 3013 | motionData[539] = xx[0]; |
| 3014 | motionData[540] = xx[0]; |
| 3015 | motionData[541] = xx[0]; |
| 3016 | motionData[542] = state[3]; |
| 3017 | motionData[543] = state[4]; |
| 3018 | motionData[544] = state[5]; |
| 3019 | motionData[545] = xx[5]; |
| 3020 | motionData[546] = xx[6]; |
| 3021 | motionData[547] = xx[7]; |
| 3022 | motionData[548] = xx[8]; |
| 3023 | motionData[549] = xx[16]; |
| 3024 | motionData[550] = xx[10]; |
| 3025 | motionData[551] = xx[11]; |
| 3026 | motionData[552] = xx[12]; |
| 3027 | motionData[553] = xx[14]; |
| 3028 | motionData[554] = xx[622]; |
| 3029 | motionData[555] = xx[13]; |
| 3030 | motionData[556] = xx[624]; |
| 3031 | motionData[557] = xx[17]; |
| 3032 | motionData[558] = xx[18]; |
| 3033 | motionData[559] = xx[15]; |
| 3034 | motionData[560] = xx[338]; |
| 3035 | motionData[561] = xx[37]; |
| 3036 | motionData[562] = xx[335]; |
| 3037 | motionData[563] = xx[607]; |
| 3038 | motionData[564] = xx[40]; |
| 3039 | motionData[565] = xx[336]; |
| 3040 | motionData[566] = xx[337]; |
| 3041 | motionData[567] = xx[346]; |
| 3042 | motionData[568] = xx[347]; |
| 3043 | motionData[569] = xx[348]; |
| 3044 | motionData[570] = xx[608]; |
| 3045 | motionData[571] = xx[623]; |
| 3046 | motionData[572] = xx[63]; |
| 3047 | motionData[573] = xx[64]; |
| 3048 | motionData[574] = xx[65]; |
| 3049 | motionData[575] = xx[68]; |
| 3050 | motionData[576] = xx[69]; |
| 3051 | motionData[577] = xx[66]; |
| 3052 | motionData[578] = xx[371]; |
| 3053 | motionData[579] = xx[67]; |
| 3054 | motionData[580] = xx[71]; |
| 3055 | motionData[581] = xx[68] - (xx[82] * xx[361] + xx[362] * xx[83]) * xx[34]; |
| 3056 | motionData[582] = xx[69] + xx[34] * (xx[82] * xx[362] - xx[361] * xx[83]); |
| 3057 | motionData[583] = xx[66] - state[33]; |
| 3058 | motionData[584] = xx[363] - (xx[82] * xx[373] + xx[383] * xx[83]) * xx[34] - |
| 3059 | xx[81] * state[33]; |
| 3060 | motionData[585] = xx[372] + xx[34] * (xx[82] * xx[383] - xx[373] * xx[83]) - |
| 3061 | xx[85] * state[33]; |
| 3062 | motionData[586] = xx[627] + xx[71]; |
| 3063 | motionData[587] = xx[628]; |
| 3064 | motionData[588] = xx[629]; |
| 3065 | motionData[589] = xx[630] + state[35]; |
| 3066 | motionData[590] = xx[631] - xx[97] * state[35]; |
| 3067 | motionData[591] = xx[632] + xx[93] * state[35]; |
| 3068 | motionData[592] = xx[633]; |
| 3069 | motionData[593] = xx[100]; |
| 3070 | motionData[594] = xx[101]; |
| 3071 | motionData[595] = xx[102] - state[37]; |
| 3072 | motionData[596] = xx[634] + xx[111] * state[37]; |
| 3073 | motionData[597] = xx[635] + xx[109] * state[37]; |
| 3074 | motionData[598] = xx[636]; |
| 3075 | motionData[599] = xx[118]; |
| 3076 | motionData[600] = xx[119]; |
| 3077 | motionData[601] = xx[120] - state[39]; |
| 3078 | motionData[602] = xx[637] + xx[129] * state[39]; |
| 3079 | motionData[603] = xx[638] - xx[127] * state[39]; |
| 3080 | motionData[604] = xx[639]; |
| 3081 | motionData[605] = xx[131]; |
| 3082 | motionData[606] = xx[132]; |
| 3083 | motionData[607] = xx[133] + state[41]; |
| 3084 | motionData[608] = xx[640] + xx[144] * state[41]; |
| 3085 | motionData[609] = xx[641] + xx[142] * state[41]; |
| 3086 | motionData[610] = xx[642]; |
| 3087 | motionData[611] = xx[146]; |
| 3088 | motionData[612] = xx[147]; |
| 3089 | motionData[613] = xx[103]; |
| 3090 | motionData[614] = xx[643]; |
| 3091 | motionData[615] = xx[121]; |
| 3092 | motionData[616] = xx[645]; |
| 3093 | motionData[617] = xx[148]; |
| 3094 | motionData[618] = xx[149]; |
| 3095 | motionData[619] = xx[134]; |
| 3096 | motionData[620] = xx[544]; |
| 3097 | motionData[621] = xx[171]; |
| 3098 | motionData[622] = xx[384]; |
| 3099 | motionData[623] = xx[591] + xx[543]; |
| 3100 | motionData[624] = xx[592] + xx[548]; |
| 3101 | motionData[625] = xx[593] + state[52]; |
| 3102 | motionData[626] = xx[646] + xx[545]; |
| 3103 | motionData[627] = xx[647] + xx[546]; |
| 3104 | motionData[628] = xx[648] + xx[547]; |
| 3105 | motionData[629] = xx[184]; |
| 3106 | motionData[630] = xx[185]; |
| 3107 | motionData[631] = xx[170]; |
| 3108 | motionData[632] = xx[652]; |
| 3109 | motionData[633] = xx[186]; |
| 3110 | motionData[634] = xx[654]; |
| 3111 | motionData[635] = xx[187]; |
| 3112 | motionData[636] = xx[385]; |
| 3113 | motionData[637] = xx[157]; |
| 3114 | motionData[638] = xx[411]; |
| 3115 | motionData[639] = xx[198]; |
| 3116 | motionData[640] = xx[408]; |
| 3117 | motionData[641] = xx[649] + xx[410]; |
| 3118 | motionData[642] = xx[650] + xx[549]; |
| 3119 | motionData[643] = xx[651] + state[63]; |
| 3120 | motionData[644] = xx[655] + xx[412]; |
| 3121 | motionData[645] = xx[656] + xx[413]; |
| 3122 | motionData[646] = xx[657] + xx[414]; |
| 3123 | motionData[647] = xx[212]; |
| 3124 | motionData[648] = xx[213]; |
| 3125 | motionData[649] = xx[197]; |
| 3126 | motionData[650] = xx[661]; |
| 3127 | motionData[651] = xx[214]; |
| 3128 | motionData[652] = xx[663]; |
| 3129 | motionData[653] = xx[324]; |
| 3130 | motionData[654] = xx[325]; |
| 3131 | motionData[655] = xx[215]; |
| 3132 | motionData[656] = xx[329]; |
| 3133 | motionData[657] = xx[233]; |
| 3134 | motionData[658] = xx[326]; |
| 3135 | motionData[659] = xx[664] + xx[328]; |
| 3136 | motionData[660] = xx[665] + xx[330]; |
| 3137 | motionData[661] = xx[666] + state[74]; |
| 3138 | motionData[662] = xx[667] + xx[658]; |
| 3139 | motionData[663] = xx[668] + xx[659]; |
| 3140 | motionData[664] = xx[669] + xx[660]; |
| 3141 | motionData[665] = xx[247]; |
| 3142 | motionData[666] = xx[248]; |
| 3143 | motionData[667] = xx[232]; |
| 3144 | motionData[668] = xx[673]; |
| 3145 | motionData[669] = xx[249]; |
| 3146 | motionData[670] = xx[675]; |
| 3147 | motionData[671] = xx[327]; |
| 3148 | motionData[672] = xx[409]; |
| 3149 | motionData[673] = xx[250]; |
| 3150 | motionData[674] = xx[458]; |
| 3151 | motionData[675] = xx[267]; |
| 3152 | motionData[676] = xx[455]; |
| 3153 | motionData[677] = xx[670] + xx[457]; |
| 3154 | motionData[678] = xx[671] + xx[625]; |
| 3155 | motionData[679] = xx[672] + state[85]; |
| 3156 | motionData[680] = xx[676] + xx[459]; |
| 3157 | motionData[681] = xx[677] + xx[460]; |
| 3158 | motionData[682] = xx[678] + xx[461]; |
| 3159 | motionData[683] = xx[280]; |
| 3160 | motionData[684] = xx[281]; |
| 3161 | motionData[685] = xx[264]; |
| 3162 | motionData[686] = xx[682]; |
| 3163 | motionData[687] = xx[282]; |
| 3164 | motionData[688] = xx[684]; |
| 3165 | motionData[689] = xx[283]; |
| 3166 | motionData[690] = xx[456]; |
| 3167 | motionData[691] = xx[28]; |
| 3168 | motionData[692] = xx[503]; |
| 3169 | motionData[693] = xx[300]; |
| 3170 | motionData[694] = xx[500]; |
| 3171 | motionData[695] = xx[685] + xx[502]; |
| 3172 | motionData[696] = xx[686] + xx[626]; |
| 3173 | motionData[697] = xx[687] + state[96]; |
| 3174 | motionData[698] = xx[688] + xx[679]; |
| 3175 | motionData[699] = xx[689] + xx[680]; |
| 3176 | motionData[700] = xx[690] + xx[681]; |
| 3177 | } |
| 3178 | |
| 3179 | static size_t computeAssemblyError_0(const double *rtdv, const double *state, |
| 3180 | const double *motionData, double *error) |
| 3181 | { |
| 3182 | double xx[13]; |
| 3183 | (void) rtdv; |
| 3184 | (void) state; |
| 3185 | xx[0] = motionData[231]; |
| 3186 | xx[1] = motionData[232]; |
| 3187 | xx[2] = motionData[233]; |
| 3188 | xx[3] = motionData[234]; |
| 3189 | xx[4] = - 7.599121945184391e-12; |
| 3190 | xx[5] = 5.036130209737022e-12; |
| 3191 | xx[6] = - 5.192027881355888e-12; |
| 3192 | pm_math_quatXform(xx + 0, xx + 4, xx + 7); |
| 3193 | xx[0] = motionData[196]; |
| 3194 | xx[1] = motionData[197]; |
| 3195 | xx[2] = motionData[198]; |
| 3196 | xx[3] = motionData[199]; |
| 3197 | xx[4] = 3.641924106626229e-8; |
| 3198 | xx[5] = 0.04574999999998041; |
| 3199 | xx[6] = 2.92603149291605e-7; |
| 3200 | pm_math_quatXform(xx + 0, xx + 4, xx + 10); |
| 3201 | error[0] = xx[7] + motionData[235] - (xx[10] + motionData[200]); |
| 3202 | error[1] = xx[8] + motionData[236] - (xx[11] + motionData[201]); |
| 3203 | error[2] = xx[9] + motionData[237] - (xx[12] + motionData[202]); |
| 3204 | return 3; |
| 3205 | } |
| 3206 | |
| 3207 | static size_t computeAssemblyError_1(const double *rtdv, const double *state, |
| 3208 | const double *motionData, double *error) |
| 3209 | { |
| 3210 | double xx[13]; |
| 3211 | (void) rtdv; |
| 3212 | (void) state; |
| 3213 | xx[0] = motionData[287]; |
| 3214 | xx[1] = motionData[288]; |
| 3215 | xx[2] = motionData[289]; |
| 3216 | xx[3] = motionData[290]; |
| 3217 | xx[4] = - 7.599121945184391e-12; |
| 3218 | xx[5] = 5.036130209737022e-12; |
| 3219 | xx[6] = - 5.192027881355888e-12; |
| 3220 | pm_math_quatXform(xx + 0, xx + 4, xx + 7); |
| 3221 | xx[0] = motionData[280]; |
| 3222 | xx[1] = motionData[281]; |
| 3223 | xx[2] = motionData[282]; |
| 3224 | xx[3] = motionData[283]; |
| 3225 | xx[4] = 3.641924106626229e-8; |
| 3226 | xx[5] = 0.04574999999998041; |
| 3227 | xx[6] = 2.92603149291605e-7; |
| 3228 | pm_math_quatXform(xx + 0, xx + 4, xx + 10); |
| 3229 | error[0] = xx[7] + motionData[291] - (xx[10] + motionData[284]); |
| 3230 | error[1] = xx[8] + motionData[292] - (xx[11] + motionData[285]); |
| 3231 | error[2] = xx[9] + motionData[293] - (xx[12] + motionData[286]); |
| 3232 | return 3; |
| 3233 | } |
| 3234 | |
| 3235 | static size_t computeAssemblyError_2(const double *rtdv, const double *state, |
| 3236 | const double *motionData, double *error) |
| 3237 | { |
| 3238 | double xx[13]; |
| 3239 | (void) rtdv; |
| 3240 | (void) state; |
| 3241 | xx[0] = motionData[343]; |
| 3242 | xx[1] = motionData[344]; |
| 3243 | xx[2] = motionData[345]; |
| 3244 | xx[3] = motionData[346]; |
| 3245 | xx[4] = - 7.599121945184391e-12; |
| 3246 | xx[5] = 5.036130209737022e-12; |
| 3247 | xx[6] = - 5.192027881355888e-12; |
| 3248 | pm_math_quatXform(xx + 0, xx + 4, xx + 7); |
| 3249 | xx[0] = motionData[336]; |
| 3250 | xx[1] = motionData[337]; |
| 3251 | xx[2] = motionData[338]; |
| 3252 | xx[3] = motionData[339]; |
| 3253 | xx[4] = 3.641924106626229e-8; |
| 3254 | xx[5] = 0.04574999999998041; |
| 3255 | xx[6] = 2.92603149291605e-7; |
| 3256 | pm_math_quatXform(xx + 0, xx + 4, xx + 10); |
| 3257 | error[0] = xx[7] + motionData[347] - (xx[10] + motionData[340]); |
| 3258 | error[1] = xx[8] + motionData[348] - (xx[11] + motionData[341]); |
| 3259 | error[2] = xx[9] + motionData[349] - (xx[12] + motionData[342]); |
| 3260 | return 3; |
| 3261 | } |
| 3262 | |
| 3263 | static size_t computeAssemblyError_3(const double *rtdv, const double *state, |
| 3264 | const double *motionData, double *error) |
| 3265 | { |
| 3266 | double xx[13]; |
| 3267 | (void) rtdv; |
| 3268 | (void) state; |
| 3269 | xx[0] = motionData[399]; |
| 3270 | xx[1] = motionData[400]; |
| 3271 | xx[2] = motionData[401]; |
| 3272 | xx[3] = motionData[402]; |
| 3273 | xx[4] = - 7.599121945184391e-12; |
| 3274 | xx[5] = 5.036130209737022e-12; |
| 3275 | xx[6] = - 5.192027881355888e-12; |
| 3276 | pm_math_quatXform(xx + 0, xx + 4, xx + 7); |
| 3277 | xx[0] = motionData[392]; |
| 3278 | xx[1] = motionData[393]; |
| 3279 | xx[2] = motionData[394]; |
| 3280 | xx[3] = motionData[395]; |
| 3281 | xx[4] = 3.641924106626229e-8; |
| 3282 | xx[5] = 0.04574999999998041; |
| 3283 | xx[6] = 2.92603149291605e-7; |
| 3284 | pm_math_quatXform(xx + 0, xx + 4, xx + 10); |
| 3285 | error[0] = xx[7] + motionData[403] - (xx[10] + motionData[396]); |
| 3286 | error[1] = xx[8] + motionData[404] - (xx[11] + motionData[397]); |
| 3287 | error[2] = xx[9] + motionData[405] - (xx[12] + motionData[398]); |
| 3288 | return 3; |
| 3289 | } |
| 3290 | |
| 3291 | static size_t computeAssemblyError_4(const double *rtdv, const double *state, |
| 3292 | const double *motionData, double *error) |
| 3293 | { |
| 3294 | double xx[13]; |
| 3295 | (void) rtdv; |
| 3296 | (void) state; |
| 3297 | xx[0] = motionData[455]; |
| 3298 | xx[1] = motionData[456]; |
| 3299 | xx[2] = motionData[457]; |
| 3300 | xx[3] = motionData[458]; |
| 3301 | xx[4] = - 7.599121945184391e-12; |
| 3302 | xx[5] = 5.036130209737022e-12; |
| 3303 | xx[6] = - 5.192027881355888e-12; |
| 3304 | pm_math_quatXform(xx + 0, xx + 4, xx + 7); |
| 3305 | xx[0] = motionData[448]; |
| 3306 | xx[1] = motionData[449]; |
| 3307 | xx[2] = motionData[450]; |
| 3308 | xx[3] = motionData[451]; |
| 3309 | xx[4] = 3.641924106626229e-8; |
| 3310 | xx[5] = 0.04574999999998041; |
| 3311 | xx[6] = 2.92603149291605e-7; |
| 3312 | pm_math_quatXform(xx + 0, xx + 4, xx + 10); |
| 3313 | error[0] = xx[7] + motionData[459] - (xx[10] + motionData[452]); |
| 3314 | error[1] = xx[8] + motionData[460] - (xx[11] + motionData[453]); |
| 3315 | error[2] = xx[9] + motionData[461] - (xx[12] + motionData[454]); |
| 3316 | return 3; |
| 3317 | } |
| 3318 | |
| 3319 | size_t PlatformAssem_f0ca4364_1_computeAssemblyError(const void *mech, const |
| 3320 | double *rtdv, size_t constraintIdx, const double *state, const double |
| 3321 | *motionData, double *error) |
| 3322 | { |
| 3323 | (void) mech; |
| 3324 | (void)rtdv; |
| 3325 | (void) state; |
| 3326 | (void) motionData; |
| 3327 | (void) error; |
| 3328 | (void) state; |
| 3329 | switch (constraintIdx) |
| 3330 | { |
| 3331 | case 0: |
| 3332 | return computeAssemblyError_0(rtdv, state, motionData, error); |
| 3333 | |
| 3334 | case 1: |
| 3335 | return computeAssemblyError_1(rtdv, state, motionData, error); |
| 3336 | |
| 3337 | case 2: |
| 3338 | return computeAssemblyError_2(rtdv, state, motionData, error); |
| 3339 | |
| 3340 | case 3: |
| 3341 | return computeAssemblyError_3(rtdv, state, motionData, error); |
| 3342 | |
| 3343 | case 4: |
| 3344 | return computeAssemblyError_4(rtdv, state, motionData, error); |
| 3345 | } |
| 3346 | |
| 3347 | return 0; |
| 3348 | } |
| 3349 | |
| 3350 | static size_t computeAssemblyJacobian_0(const double *rtdv, const double *state, |
| 3351 | const double *motionData, double *J) |
| 3352 | { |
| 3353 | double xx[165]; |
| 3354 | (void) rtdv; |
| 3355 | xx[0] = 0.0; |
| 3356 | xx[1] = 0.3895853754265615; |
| 3357 | xx[2] = 0.5; |
| 3358 | xx[3] = xx[2] * state[12]; |
| 3359 | xx[4] = cos(xx[3]); |
| 3360 | xx[5] = 0.389581900177037; |
| 3361 | xx[6] = sin(xx[3]); |
| 3362 | xx[3] = xx[1] * xx[4] - xx[5] * xx[6]; |
| 3363 | xx[7] = 0.5901074779979933; |
| 3364 | xx[8] = 0.5901036711621462; |
| 3365 | xx[9] = xx[7] * xx[4] + xx[8] * xx[6]; |
| 3366 | xx[10] = - xx[9]; |
| 3367 | xx[11] = xx[8] * xx[4] - xx[7] * xx[6]; |
| 3368 | xx[7] = xx[5] * xx[4] + xx[1] * xx[6]; |
| 3369 | xx[1] = - xx[7]; |
| 3370 | xx[12] = xx[3]; |
| 3371 | xx[13] = xx[10]; |
| 3372 | xx[14] = xx[11]; |
| 3373 | xx[15] = xx[1]; |
| 3374 | xx[16] = motionData[266]; |
| 3375 | xx[17] = motionData[267]; |
| 3376 | xx[18] = motionData[268]; |
| 3377 | xx[19] = motionData[269]; |
| 3378 | pm_math_quatCompose(xx + 12, xx + 16, xx + 20); |
| 3379 | xx[4] = 2.0; |
| 3380 | xx[5] = 1.0; |
| 3381 | xx[12] = xx[4] * (motionData[266] * motionData[268] - motionData[267] * |
| 3382 | motionData[269]); |
| 3383 | xx[13] = - ((motionData[266] * motionData[267] + motionData[268] * motionData |
| 3384 | [269]) * xx[4]); |
| 3385 | xx[14] = (motionData[267] * motionData[267] + motionData[268] * motionData[268]) |
| 3386 | * xx[4] - xx[5]; |
| 3387 | xx[6] = 7.599121945184391e-12; |
| 3388 | xx[8] = 5.036130209737022e-12; |
| 3389 | xx[15] = 5.192027881355888e-12; |
| 3390 | xx[16] = - xx[6]; |
| 3391 | xx[17] = xx[8]; |
| 3392 | xx[18] = - xx[15]; |
| 3393 | pm_math_cross3(xx + 12, xx + 16, xx + 24); |
| 3394 | pm_math_quatXform(xx + 20, xx + 24, xx + 12); |
| 3395 | xx[19] = xx[10]; |
| 3396 | xx[20] = xx[11]; |
| 3397 | xx[21] = xx[1]; |
| 3398 | xx[1] = xx[7] * motionData[270]; |
| 3399 | xx[10] = xx[7] * motionData[271]; |
| 3400 | xx[22] = xx[11] * motionData[271] - xx[9] * motionData[270]; |
| 3401 | xx[23] = - xx[1]; |
| 3402 | xx[24] = - xx[10]; |
| 3403 | xx[25] = - xx[22]; |
| 3404 | pm_math_cross3(xx + 19, xx + 23, xx + 26); |
| 3405 | xx[19] = 0.02520954632904373; |
| 3406 | xx[20] = xx[19] * xx[9]; |
| 3407 | xx[21] = xx[19] * xx[7]; |
| 3408 | xx[23] = xx[2] * state[14]; |
| 3409 | xx[24] = cos(xx[23]); |
| 3410 | xx[25] = sin(xx[23]); |
| 3411 | xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16]; |
| 3412 | xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]); |
| 3413 | xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17]; |
| 3414 | xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16]; |
| 3415 | xx[33] = motionData[259]; |
| 3416 | xx[34] = motionData[260]; |
| 3417 | xx[35] = motionData[261]; |
| 3418 | xx[36] = motionData[262]; |
| 3419 | pm_math_quatCompose(xx + 29, xx + 33, xx + 37); |
| 3420 | xx[29] = xx[4] * (motionData[260] * motionData[262] - motionData[259] * |
| 3421 | motionData[261]); |
| 3422 | xx[30] = (motionData[259] * motionData[260] + motionData[261] * motionData[262]) |
| 3423 | * xx[4]; |
| 3424 | xx[31] = xx[5] - (motionData[260] * motionData[260] + motionData[261] * |
| 3425 | motionData[261]) * xx[4]; |
| 3426 | pm_math_cross3(xx + 29, xx + 16, xx + 32); |
| 3427 | pm_math_quatXform(xx + 37, xx + 32, xx + 29); |
| 3428 | xx[23] = xx[25] * motionData[264] - xx[24] * motionData[263]; |
| 3429 | xx[32] = 7.748428954013064e-12; |
| 3430 | xx[33] = 5.376764528053357e-12; |
| 3431 | xx[34] = xx[32] * xx[24] - xx[33] * xx[25]; |
| 3432 | xx[35] = xx[4] * xx[25] * xx[23] - (motionData[264] + xx[4] * xx[34] * xx[25]) |
| 3433 | - xx[33]; |
| 3434 | xx[36] = motionData[15]; |
| 3435 | xx[37] = motionData[16]; |
| 3436 | xx[38] = motionData[17]; |
| 3437 | xx[25] = motionData[263] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] + |
| 3438 | xx[32]; |
| 3439 | xx[23] = xx[25] * motionData[17]; |
| 3440 | xx[24] = xx[35] * motionData[17]; |
| 3441 | xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16]; |
| 3442 | xx[39] = - xx[23]; |
| 3443 | xx[40] = xx[24]; |
| 3444 | xx[41] = xx[32]; |
| 3445 | pm_math_cross3(xx + 36, xx + 39, xx + 42); |
| 3446 | xx[36] = motionData[203]; |
| 3447 | xx[37] = motionData[204]; |
| 3448 | xx[38] = motionData[205]; |
| 3449 | xx[39] = motionData[206]; |
| 3450 | xx[33] = 3.980251324392935e-7; |
| 3451 | xx[34] = 0.999999999999921; |
| 3452 | xx[40] = xx[33] * state[19] - xx[34] * state[16]; |
| 3453 | xx[41] = xx[33] * state[18] + xx[34] * state[17]; |
| 3454 | xx[45] = - xx[41]; |
| 3455 | xx[46] = xx[34] * state[18] - xx[33] * state[17]; |
| 3456 | xx[47] = - xx[46]; |
| 3457 | xx[48] = xx[33] * state[16] + xx[34] * state[19]; |
| 3458 | xx[49] = - xx[48]; |
| 3459 | xx[50] = xx[40]; |
| 3460 | xx[51] = xx[45]; |
| 3461 | xx[52] = xx[47]; |
| 3462 | xx[53] = xx[49]; |
| 3463 | pm_math_quatCompose(xx + 36, xx + 50, xx + 54); |
| 3464 | xx[58] = motionData[252]; |
| 3465 | xx[59] = motionData[253]; |
| 3466 | xx[60] = motionData[254]; |
| 3467 | xx[61] = motionData[255]; |
| 3468 | pm_math_quatCompose(xx + 54, xx + 58, xx + 62); |
| 3469 | xx[54] = motionData[253]; |
| 3470 | xx[55] = motionData[254]; |
| 3471 | xx[56] = motionData[255]; |
| 3472 | xx[57] = 7.960502648785241e-7; |
| 3473 | xx[58] = xx[57] * motionData[255]; |
| 3474 | xx[59] = xx[57] * motionData[253] + motionData[254]; |
| 3475 | xx[66] = xx[58]; |
| 3476 | xx[67] = motionData[255]; |
| 3477 | xx[68] = - xx[59]; |
| 3478 | pm_math_cross3(xx + 54, xx + 66, xx + 69); |
| 3479 | xx[60] = motionData[252] * motionData[255]; |
| 3480 | xx[66] = xx[5] + (xx[69] - xx[58] * motionData[252]) * xx[4]; |
| 3481 | xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57]; |
| 3482 | xx[68] = xx[4] * (xx[71] + xx[59] * motionData[252]); |
| 3483 | pm_math_cross3(xx + 66, xx + 16, xx + 69); |
| 3484 | pm_math_quatXform(xx + 62, xx + 69, xx + 66); |
| 3485 | xx[59] = - (xx[57] * motionData[258]); |
| 3486 | xx[69] = xx[59]; |
| 3487 | xx[70] = - motionData[258]; |
| 3488 | xx[71] = motionData[257] + xx[57] * motionData[256]; |
| 3489 | pm_math_quatXform(xx + 50, xx + 69, xx + 72); |
| 3490 | xx[61] = 2.329280111075767e-13; |
| 3491 | xx[69] = 2.926046524751139e-7; |
| 3492 | xx[75] = xx[61]; |
| 3493 | xx[76] = xx[69]; |
| 3494 | xx[77] = 0.04575000000718987; |
| 3495 | pm_math_quatXform(xx + 50, xx + 75, xx + 78); |
| 3496 | xx[81] = xx[72] + xx[78]; |
| 3497 | xx[82] = xx[73] + xx[79]; |
| 3498 | xx[83] = xx[74] + xx[80]; |
| 3499 | pm_math_quatXform(xx + 36, xx + 81, xx + 70); |
| 3500 | xx[73] = motionData[253] - xx[57] * motionData[254]; |
| 3501 | xx[78] = - motionData[255]; |
| 3502 | xx[79] = xx[58]; |
| 3503 | xx[80] = xx[73]; |
| 3504 | pm_math_cross3(xx + 54, xx + 78, xx + 81); |
| 3505 | xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4]; |
| 3506 | xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]); |
| 3507 | xx[56] = xx[4] * (xx[83] - xx[73] * motionData[252]); |
| 3508 | pm_math_cross3(xx + 54, xx + 16, xx + 78); |
| 3509 | pm_math_quatXform(xx + 62, xx + 78, xx + 54); |
| 3510 | xx[78] = motionData[258]; |
| 3511 | xx[79] = xx[59]; |
| 3512 | xx[80] = xx[57] * motionData[257] - motionData[256]; |
| 3513 | pm_math_quatXform(xx + 50, xx + 78, xx + 57); |
| 3514 | xx[78] = - xx[69]; |
| 3515 | xx[79] = xx[61]; |
| 3516 | xx[80] = 7.670997177269469e-12; |
| 3517 | pm_math_quatXform(xx + 50, xx + 78, xx + 81); |
| 3518 | xx[50] = xx[57] + xx[81]; |
| 3519 | xx[51] = xx[58] + xx[82]; |
| 3520 | xx[52] = xx[59] + xx[83]; |
| 3521 | pm_math_quatXform(xx + 36, xx + 50, xx + 57); |
| 3522 | xx[50] = xx[4] * (motionData[253] * motionData[255] - motionData[252] * |
| 3523 | motionData[254]); |
| 3524 | xx[51] = (motionData[252] * motionData[253] + motionData[254] * motionData[255]) |
| 3525 | * xx[4]; |
| 3526 | xx[52] = xx[5] - (motionData[253] * motionData[253] + motionData[254] * |
| 3527 | motionData[254]) * xx[4]; |
| 3528 | pm_math_cross3(xx + 50, xx + 16, xx + 81); |
| 3529 | pm_math_quatXform(xx + 62, xx + 81, xx + 50); |
| 3530 | xx[60] = xx[45]; |
| 3531 | xx[61] = xx[47]; |
| 3532 | xx[62] = xx[49]; |
| 3533 | xx[45] = xx[48] * motionData[256]; |
| 3534 | xx[47] = xx[48] * motionData[257]; |
| 3535 | xx[49] = xx[41] * motionData[256] + xx[46] * motionData[257]; |
| 3536 | xx[63] = xx[45]; |
| 3537 | xx[64] = xx[47]; |
| 3538 | xx[65] = - xx[49]; |
| 3539 | pm_math_cross3(xx + 60, xx + 63, xx + 81); |
| 3540 | xx[53] = 3.641162862673871e-8; |
| 3541 | xx[63] = xx[53] * xx[48]; |
| 3542 | xx[64] = 0.04575000000717538; |
| 3543 | xx[65] = xx[64] * xx[48]; |
| 3544 | xx[48] = xx[53] * xx[41] + xx[46] * xx[64]; |
| 3545 | xx[84] = xx[63]; |
| 3546 | xx[85] = xx[65]; |
| 3547 | xx[86] = - xx[48]; |
| 3548 | pm_math_cross3(xx + 60, xx + 84, xx + 87); |
| 3549 | xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40]) |
| 3550 | - motionData[257] - xx[64]; |
| 3551 | xx[61] = motionData[256] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx |
| 3552 | [40] + xx[88]) * xx[4] + xx[53]; |
| 3553 | xx[62] = (xx[83] - xx[49] * xx[40]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx |
| 3554 | [4]; |
| 3555 | pm_math_quatXform(xx + 36, xx + 60, xx + 45); |
| 3556 | xx[36] = motionData[210]; |
| 3557 | xx[37] = motionData[211]; |
| 3558 | xx[38] = motionData[212]; |
| 3559 | xx[39] = motionData[213]; |
| 3560 | xx[40] = 3.980251340548381e-7; |
| 3561 | xx[41] = xx[34] * state[26] - xx[40] * state[23]; |
| 3562 | xx[48] = xx[34] * state[25] - xx[40] * state[24]; |
| 3563 | xx[49] = xx[40] * state[25] + xx[34] * state[24]; |
| 3564 | xx[60] = - xx[49]; |
| 3565 | xx[61] = xx[40] * state[26] + xx[34] * state[23]; |
| 3566 | xx[40] = - xx[61]; |
| 3567 | xx[81] = xx[41]; |
| 3568 | xx[82] = xx[48]; |
| 3569 | xx[83] = xx[60]; |
| 3570 | xx[84] = xx[40]; |
| 3571 | pm_math_quatCompose(xx + 36, xx + 81, xx + 85); |
| 3572 | xx[81] = motionData[245]; |
| 3573 | xx[82] = motionData[246]; |
| 3574 | xx[83] = motionData[247]; |
| 3575 | xx[84] = motionData[248]; |
| 3576 | pm_math_quatCompose(xx + 85, xx + 81, xx + 89); |
| 3577 | xx[62] = motionData[247] * motionData[247]; |
| 3578 | xx[63] = motionData[248] * motionData[248]; |
| 3579 | xx[65] = motionData[246] * motionData[247]; |
| 3580 | xx[69] = motionData[245] * motionData[248]; |
| 3581 | xx[73] = motionData[245] * motionData[247]; |
| 3582 | xx[74] = motionData[246] * motionData[248]; |
| 3583 | xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4]; |
| 3584 | xx[82] = xx[4] * (xx[65] - xx[69]); |
| 3585 | xx[83] = (xx[73] + xx[74]) * xx[4]; |
| 3586 | pm_math_cross3(xx + 81, xx + 16, xx + 84); |
| 3587 | pm_math_quatXform(xx + 89, xx + 84, xx + 81); |
| 3588 | xx[84] = xx[48]; |
| 3589 | xx[85] = xx[60]; |
| 3590 | xx[86] = xx[40]; |
| 3591 | xx[40] = xx[49] * motionData[250]; |
| 3592 | xx[60] = xx[61] * motionData[251]; |
| 3593 | xx[87] = xx[40] + xx[60]; |
| 3594 | xx[88] = xx[48] * motionData[250]; |
| 3595 | xx[93] = xx[48] * motionData[251]; |
| 3596 | xx[94] = - xx[87]; |
| 3597 | xx[95] = - xx[88]; |
| 3598 | xx[96] = - xx[93]; |
| 3599 | pm_math_cross3(xx + 84, xx + 94, xx + 97); |
| 3600 | xx[94] = xx[49] * xx[8]; |
| 3601 | xx[95] = xx[61] * xx[15]; |
| 3602 | xx[96] = xx[94] - xx[95]; |
| 3603 | xx[100] = xx[8] * xx[48]; |
| 3604 | xx[101] = xx[15] * xx[48]; |
| 3605 | xx[102] = xx[96]; |
| 3606 | xx[103] = xx[100]; |
| 3607 | xx[104] = - xx[101]; |
| 3608 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 3609 | xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) * |
| 3610 | xx[4]; |
| 3611 | xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] * |
| 3612 | xx[41]) - motionData[251] - xx[15]; |
| 3613 | xx[104] = motionData[250] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] - |
| 3614 | xx[101] * xx[41]) * xx[4] - xx[8]; |
| 3615 | pm_math_quatXform(xx + 36, xx + 102, xx + 96); |
| 3616 | xx[87] = motionData[246] * motionData[246]; |
| 3617 | xx[88] = motionData[247] * motionData[248]; |
| 3618 | xx[93] = motionData[245] * motionData[246]; |
| 3619 | xx[99] = (xx[69] + xx[65]) * xx[4]; |
| 3620 | xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4]; |
| 3621 | xx[101] = xx[4] * (xx[88] - xx[93]); |
| 3622 | pm_math_cross3(xx + 99, xx + 16, xx + 102); |
| 3623 | pm_math_quatXform(xx + 89, xx + 102, xx + 99); |
| 3624 | xx[63] = xx[49] * motionData[249]; |
| 3625 | xx[65] = xx[48] * motionData[249]; |
| 3626 | xx[69] = xx[65] - xx[60]; |
| 3627 | xx[60] = xx[49] * motionData[251]; |
| 3628 | xx[102] = xx[63]; |
| 3629 | xx[103] = xx[69]; |
| 3630 | xx[104] = xx[60]; |
| 3631 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 3632 | xx[102] = xx[49] * xx[6]; |
| 3633 | xx[103] = xx[6] * xx[48]; |
| 3634 | xx[48] = xx[95] - xx[103]; |
| 3635 | xx[95] = xx[49] * xx[15]; |
| 3636 | xx[108] = xx[102]; |
| 3637 | xx[109] = - xx[48]; |
| 3638 | xx[110] = xx[95]; |
| 3639 | pm_math_cross3(xx + 84, xx + 108, xx + 111); |
| 3640 | xx[108] = motionData[251] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx |
| 3641 | [111] + xx[102] * xx[41]) + xx[15]; |
| 3642 | xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] * |
| 3643 | xx[41]); |
| 3644 | xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) * |
| 3645 | xx[4] - motionData[249] - xx[6]; |
| 3646 | pm_math_quatXform(xx + 36, xx + 108, xx + 104); |
| 3647 | xx[107] = xx[4] * (xx[74] - xx[73]); |
| 3648 | xx[108] = (xx[93] + xx[88]) * xx[4]; |
| 3649 | xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4]; |
| 3650 | pm_math_cross3(xx + 107, xx + 16, xx + 110); |
| 3651 | pm_math_quatXform(xx + 89, xx + 110, xx + 107); |
| 3652 | xx[15] = xx[61] * motionData[249]; |
| 3653 | xx[48] = xx[61] * motionData[250]; |
| 3654 | xx[49] = xx[65] - xx[40]; |
| 3655 | xx[87] = xx[15]; |
| 3656 | xx[88] = xx[48]; |
| 3657 | xx[89] = xx[49]; |
| 3658 | pm_math_cross3(xx + 84, xx + 87, xx + 90); |
| 3659 | xx[40] = xx[61] * xx[6]; |
| 3660 | xx[60] = xx[61] * xx[8]; |
| 3661 | xx[61] = xx[103] + xx[94]; |
| 3662 | xx[87] = xx[40]; |
| 3663 | xx[88] = - xx[60]; |
| 3664 | xx[89] = xx[61]; |
| 3665 | pm_math_cross3(xx + 84, xx + 87, xx + 93); |
| 3666 | xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx |
| 3667 | [4] - motionData[250] + xx[8]; |
| 3668 | xx[85] = motionData[249] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94] |
| 3669 | - xx[60] * xx[41]) + xx[6]; |
| 3670 | xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx |
| 3671 | [4]; |
| 3672 | pm_math_quatXform(xx + 36, xx + 84, xx + 60); |
| 3673 | xx[15] = xx[2] * state[30]; |
| 3674 | xx[36] = cos(xx[15]); |
| 3675 | xx[37] = sin(xx[15]); |
| 3676 | xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220]; |
| 3677 | xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219]; |
| 3678 | xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218]; |
| 3679 | xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220]; |
| 3680 | xx[84] = motionData[49]; |
| 3681 | xx[85] = motionData[50]; |
| 3682 | xx[86] = motionData[51]; |
| 3683 | xx[87] = motionData[52]; |
| 3684 | pm_math_quatCompose(xx + 38, xx + 84, xx + 88); |
| 3685 | xx[38] = xx[4] * (motionData[50] * motionData[52] - motionData[49] * |
| 3686 | motionData[51]); |
| 3687 | xx[39] = (motionData[49] * motionData[50] + motionData[51] * motionData[52]) * |
| 3688 | xx[4]; |
| 3689 | xx[40] = xx[5] - (motionData[50] * motionData[50] + motionData[51] * |
| 3690 | motionData[51]) * xx[4]; |
| 3691 | pm_math_cross3(xx + 38, xx + 16, xx + 84); |
| 3692 | pm_math_quatXform(xx + 88, xx + 84, xx + 15); |
| 3693 | xx[18] = xx[37] * motionData[54]; |
| 3694 | xx[38] = xx[37] * motionData[53]; |
| 3695 | xx[39] = 0.02540000000000185; |
| 3696 | xx[40] = xx[39] * xx[37]; |
| 3697 | xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[54] + xx[4] * |
| 3698 | xx[36] * xx[40]; |
| 3699 | xx[84] = motionData[218]; |
| 3700 | xx[85] = motionData[219]; |
| 3701 | xx[86] = motionData[220]; |
| 3702 | xx[48] = motionData[53] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4] |
| 3703 | * xx[40] * xx[37]) - xx[39]; |
| 3704 | xx[18] = xx[48] * motionData[220]; |
| 3705 | xx[36] = xx[41] * motionData[220]; |
| 3706 | xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219]; |
| 3707 | xx[38] = - xx[18]; |
| 3708 | xx[39] = xx[36]; |
| 3709 | xx[40] = xx[37]; |
| 3710 | pm_math_cross3(xx + 84, xx + 38, xx + 87); |
| 3711 | xx[38] = xx[2] * state[32]; |
| 3712 | xx[39] = cos(xx[38]); |
| 3713 | xx[40] = sin(xx[38]); |
| 3714 | xx[38] = xx[39] * motionData[225] - xx[40] * motionData[226]; |
| 3715 | xx[49] = xx[39] * motionData[226] + xx[40] * motionData[225]; |
| 3716 | xx[63] = xx[39] * motionData[227] - xx[40] * motionData[224]; |
| 3717 | xx[84] = xx[38]; |
| 3718 | xx[85] = xx[49]; |
| 3719 | xx[86] = xx[63]; |
| 3720 | xx[65] = xx[6] * xx[63]; |
| 3721 | xx[69] = xx[8] * xx[63]; |
| 3722 | xx[63] = xx[6] * xx[38] - xx[49] * xx[8]; |
| 3723 | xx[90] = - xx[65]; |
| 3724 | xx[91] = xx[69]; |
| 3725 | xx[92] = xx[63]; |
| 3726 | pm_math_cross3(xx + 84, xx + 90, xx + 93); |
| 3727 | xx[38] = xx[39] * motionData[224] + xx[40] * motionData[227]; |
| 3728 | xx[49] = 2.191920996097441e-12; |
| 3729 | xx[73] = xx[49] * xx[40]; |
| 3730 | xx[74] = 3.368449963403463e-13; |
| 3731 | xx[84] = xx[74] * xx[40]; |
| 3732 | xx[85] = xx[4] * (xx[73] * xx[40] - xx[39] * xx[84]) - xx[49]; |
| 3733 | xx[90] = motionData[225]; |
| 3734 | xx[91] = motionData[226]; |
| 3735 | xx[92] = motionData[227]; |
| 3736 | xx[49] = (xx[39] * xx[73] + xx[84] * xx[40]) * xx[4] - xx[74]; |
| 3737 | xx[39] = xx[49] * motionData[227]; |
| 3738 | xx[40] = xx[85] * motionData[227]; |
| 3739 | xx[73] = xx[49] * motionData[225] - xx[85] * motionData[226]; |
| 3740 | xx[110] = - xx[39]; |
| 3741 | xx[111] = xx[40]; |
| 3742 | xx[112] = xx[73]; |
| 3743 | pm_math_cross3(xx + 90, xx + 110, xx + 113); |
| 3744 | xx[74] = 0.389585375426561; |
| 3745 | xx[84] = xx[2] * state[64]; |
| 3746 | xx[86] = cos(xx[84]); |
| 3747 | xx[90] = 0.3895819001770367; |
| 3748 | xx[91] = sin(xx[84]); |
| 3749 | xx[84] = xx[74] * xx[86] - xx[90] * xx[91]; |
| 3750 | xx[92] = 0.5901074779979936; |
| 3751 | xx[102] = 0.5901036711621467; |
| 3752 | xx[103] = xx[92] * xx[86] + xx[102] * xx[91]; |
| 3753 | xx[110] = - xx[103]; |
| 3754 | xx[111] = xx[102] * xx[86] - xx[92] * xx[91]; |
| 3755 | xx[92] = xx[90] * xx[86] + xx[74] * xx[91]; |
| 3756 | xx[74] = - xx[92]; |
| 3757 | xx[116] = xx[84]; |
| 3758 | xx[117] = xx[110]; |
| 3759 | xx[118] = xx[111]; |
| 3760 | xx[119] = xx[74]; |
| 3761 | xx[120] = motionData[238]; |
| 3762 | xx[121] = motionData[239]; |
| 3763 | xx[122] = motionData[240]; |
| 3764 | xx[123] = motionData[241]; |
| 3765 | pm_math_quatCompose(xx + 116, xx + 120, xx + 124); |
| 3766 | xx[116] = xx[4] * (motionData[238] * motionData[240] - motionData[239] * |
| 3767 | motionData[241]); |
| 3768 | xx[117] = - ((motionData[238] * motionData[239] + motionData[240] * |
| 3769 | motionData[241]) * xx[4]); |
| 3770 | xx[118] = (motionData[239] * motionData[239] + motionData[240] * motionData |
| 3771 | [240]) * xx[4] - xx[5]; |
| 3772 | xx[86] = 3.641924106626229e-8; |
| 3773 | xx[90] = 0.04574999999998041; |
| 3774 | xx[91] = 2.92603149291605e-7; |
| 3775 | xx[119] = xx[86]; |
| 3776 | xx[120] = xx[90]; |
| 3777 | xx[121] = xx[91]; |
| 3778 | pm_math_cross3(xx + 116, xx + 119, xx + 128); |
| 3779 | pm_math_quatXform(xx + 124, xx + 128, xx + 116); |
| 3780 | xx[122] = xx[110]; |
| 3781 | xx[123] = xx[111]; |
| 3782 | xx[124] = xx[74]; |
| 3783 | xx[74] = xx[92] * motionData[242]; |
| 3784 | xx[102] = xx[92] * motionData[243]; |
| 3785 | xx[110] = xx[111] * motionData[243] - xx[103] * motionData[242]; |
| 3786 | xx[125] = - xx[74]; |
| 3787 | xx[126] = - xx[102]; |
| 3788 | xx[127] = - xx[110]; |
| 3789 | pm_math_cross3(xx + 122, xx + 125, xx + 128); |
| 3790 | xx[112] = xx[19] * xx[103]; |
| 3791 | xx[122] = xx[19] * xx[92]; |
| 3792 | xx[123] = xx[2] * state[66]; |
| 3793 | xx[2] = cos(xx[123]); |
| 3794 | xx[124] = sin(xx[123]); |
| 3795 | xx[131] = xx[2] * motionData[127] - xx[124] * motionData[128]; |
| 3796 | xx[132] = - (xx[2] * motionData[126] + xx[124] * motionData[129]); |
| 3797 | xx[133] = xx[124] * motionData[126] - xx[2] * motionData[129]; |
| 3798 | xx[134] = xx[124] * motionData[127] + xx[2] * motionData[128]; |
| 3799 | xx[135] = motionData[140]; |
| 3800 | xx[136] = motionData[141]; |
| 3801 | xx[137] = motionData[142]; |
| 3802 | xx[138] = motionData[143]; |
| 3803 | pm_math_quatCompose(xx + 131, xx + 135, xx + 139); |
| 3804 | xx[125] = xx[4] * (motionData[141] * motionData[143] - motionData[140] * |
| 3805 | motionData[142]); |
| 3806 | xx[126] = (motionData[140] * motionData[141] + motionData[142] * motionData |
| 3807 | [143]) * xx[4]; |
| 3808 | xx[127] = xx[5] - (motionData[141] * motionData[141] + motionData[142] * |
| 3809 | motionData[142]) * xx[4]; |
| 3810 | pm_math_cross3(xx + 125, xx + 119, xx + 131); |
| 3811 | pm_math_quatXform(xx + 139, xx + 131, xx + 119); |
| 3812 | xx[5] = xx[124] * motionData[145] - xx[2] * motionData[144]; |
| 3813 | xx[123] = 6.924287580811761e-12; |
| 3814 | xx[125] = 1.024070757638107e-11; |
| 3815 | xx[126] = xx[123] * xx[124] - xx[125] * xx[2]; |
| 3816 | xx[127] = xx[4] * xx[124] * xx[5] - (motionData[145] + xx[4] * xx[126] * xx |
| 3817 | [124]) + xx[123]; |
| 3818 | xx[131] = motionData[127]; |
| 3819 | xx[132] = motionData[128]; |
| 3820 | xx[133] = motionData[129]; |
| 3821 | xx[123] = motionData[144] + xx[4] * xx[2] * xx[5] - xx[4] * xx[126] * xx[2] - |
| 3822 | xx[125]; |
| 3823 | xx[2] = xx[123] * motionData[129]; |
| 3824 | xx[5] = xx[127] * motionData[129]; |
| 3825 | xx[124] = xx[123] * motionData[127] - xx[127] * motionData[128]; |
| 3826 | xx[134] = - xx[2]; |
| 3827 | xx[135] = xx[5]; |
| 3828 | xx[136] = xx[124]; |
| 3829 | pm_math_cross3(xx + 131, xx + 134, xx + 137); |
| 3830 | xx[131] = motionData[189]; |
| 3831 | xx[132] = motionData[190]; |
| 3832 | xx[133] = motionData[191]; |
| 3833 | xx[134] = motionData[192]; |
| 3834 | xx[125] = xx[33] * state[71] - xx[34] * state[68]; |
| 3835 | xx[126] = xx[33] * state[70] + xx[34] * state[69]; |
| 3836 | xx[135] = - xx[126]; |
| 3837 | xx[136] = xx[34] * state[70] - xx[33] * state[69]; |
| 3838 | xx[140] = - xx[136]; |
| 3839 | xx[141] = xx[33] * state[68] + xx[34] * state[71]; |
| 3840 | xx[33] = - xx[141]; |
| 3841 | xx[142] = xx[125]; |
| 3842 | xx[143] = xx[135]; |
| 3843 | xx[144] = xx[140]; |
| 3844 | xx[145] = xx[33]; |
| 3845 | pm_math_quatCompose(xx + 131, xx + 142, xx + 146); |
| 3846 | xx[34] = - 2.329268144978725e-13; |
| 3847 | xx[150] = xx[34]; |
| 3848 | xx[151] = - xx[91]; |
| 3849 | xx[152] = 0.0457500000000094; |
| 3850 | pm_math_quatXform(xx + 146, xx + 150, xx + 153); |
| 3851 | pm_math_quatXform(xx + 142, xx + 75, xx + 150); |
| 3852 | pm_math_quatXform(xx + 131, xx + 150, xx + 75); |
| 3853 | xx[150] = xx[91]; |
| 3854 | xx[151] = xx[34]; |
| 3855 | xx[152] = 5.855191459023036e-14; |
| 3856 | pm_math_quatXform(xx + 146, xx + 150, xx + 156); |
| 3857 | pm_math_quatXform(xx + 142, xx + 78, xx + 150); |
| 3858 | pm_math_quatXform(xx + 131, xx + 150, xx + 78); |
| 3859 | xx[34] = xx[86] * xx[149]; |
| 3860 | xx[91] = xx[86] * xx[147] + xx[90] * xx[148]; |
| 3861 | xx[142] = - xx[34]; |
| 3862 | xx[143] = - (xx[90] * xx[149]); |
| 3863 | xx[144] = xx[91]; |
| 3864 | pm_math_cross3(xx + 147, xx + 142, xx + 150); |
| 3865 | xx[142] = xx[135]; |
| 3866 | xx[143] = xx[140]; |
| 3867 | xx[144] = xx[33]; |
| 3868 | xx[33] = xx[53] * xx[141]; |
| 3869 | xx[135] = xx[64] * xx[141]; |
| 3870 | xx[140] = xx[53] * xx[126] + xx[136] * xx[64]; |
| 3871 | xx[159] = xx[33]; |
| 3872 | xx[160] = xx[135]; |
| 3873 | xx[161] = - xx[140]; |
| 3874 | pm_math_cross3(xx + 142, xx + 159, xx + 162); |
| 3875 | xx[141] = xx[4] * (xx[162] + xx[33] * xx[125]) - xx[64]; |
| 3876 | xx[142] = xx[53] + (xx[135] * xx[125] + xx[163]) * xx[4]; |
| 3877 | xx[143] = (xx[164] - xx[140] * xx[125]) * xx[4]; |
| 3878 | pm_math_quatXform(xx + 131, xx + 141, xx + 159); |
| 3879 | J[6] = xx[12] + motionData[271] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] * |
| 3880 | (xx[11] * xx[20] - xx[3] * xx[21]); |
| 3881 | J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]); |
| 3882 | J[8] = xx[66] + xx[70]; |
| 3883 | J[9] = xx[54] + xx[57]; |
| 3884 | J[10] = xx[50] + xx[45]; |
| 3885 | J[11] = xx[81] + xx[96]; |
| 3886 | J[12] = xx[99] + xx[104]; |
| 3887 | J[13] = xx[107] + xx[60]; |
| 3888 | J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]); |
| 3889 | J[15] = xx[4] * (xx[93] - xx[38] * xx[65]) + xx[85] + xx[4] * (xx[113] - xx[39] |
| 3890 | * motionData[224]) + xx[8]; |
| 3891 | J[30] = - (xx[116] + motionData[243] + (xx[128] - xx[84] * xx[74]) * xx[4] + |
| 3892 | xx[4] * (xx[111] * xx[112] - xx[84] * xx[122])); |
| 3893 | J[31] = - (xx[119] + xx[127] + xx[4] * (xx[137] - xx[2] * motionData[126])); |
| 3894 | J[32] = - (xx[153] + xx[75]); |
| 3895 | J[33] = - (xx[156] + xx[78]); |
| 3896 | J[34] = - (xx[4] * (xx[150] - xx[146] * xx[34]) + xx[159] - xx[90]); |
| 3897 | J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[270] - (xx[21] |
| 3898 | * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19]; |
| 3899 | J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4]; |
| 3900 | J[53] = xx[67] + xx[71]; |
| 3901 | J[54] = xx[55] + xx[58]; |
| 3902 | J[55] = xx[51] + xx[46]; |
| 3903 | J[56] = xx[82] + xx[97]; |
| 3904 | J[57] = xx[100] + xx[105]; |
| 3905 | J[58] = xx[108] + xx[61]; |
| 3906 | J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4]; |
| 3907 | J[60] = (xx[38] * xx[69] + xx[94]) * xx[4] + xx[49] + (xx[40] * motionData[224] |
| 3908 | + xx[114]) * xx[4] + xx[6]; |
| 3909 | J[75] = - (xx[117] + (xx[129] - xx[84] * xx[102]) * xx[4] - (motionData[242] - |
| 3910 | (xx[122] * xx[92] + xx[112] * xx[103]) * xx[4]) - xx[19]); |
| 3911 | J[76] = - (xx[120] + xx[123] + (xx[5] * motionData[126] + xx[138]) * xx[4]); |
| 3912 | J[77] = - (xx[154] + xx[76]); |
| 3913 | J[78] = - (xx[157] + xx[79]); |
| 3914 | J[79] = - ((xx[151] - xx[90] * xx[146] * xx[149]) * xx[4] + xx[160] + xx[86]); |
| 3915 | J[96] = xx[14] + xx[4] * (xx[28] - xx[3] * xx[22]) + (xx[3] * xx[20] + xx[11] * |
| 3916 | xx[21]) * xx[4]; |
| 3917 | J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4]; |
| 3918 | J[98] = xx[68] + xx[72]; |
| 3919 | J[99] = xx[56] + xx[59]; |
| 3920 | J[100] = xx[52] + xx[47]; |
| 3921 | J[101] = xx[83] + xx[98]; |
| 3922 | J[102] = xx[101] + xx[106]; |
| 3923 | J[103] = xx[109] + xx[62]; |
| 3924 | J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4]; |
| 3925 | J[105] = (xx[38] * xx[63] + xx[95]) * xx[4] + (xx[73] * motionData[224] + xx |
| 3926 | [115]) * xx[4]; |
| 3927 | J[120] = - (xx[118] + xx[4] * (xx[130] - xx[84] * xx[110]) + (xx[84] * xx[112] |
| 3928 | + xx[111] * xx[122]) * xx[4]); |
| 3929 | J[121] = - (xx[121] + (xx[124] * motionData[126] + xx[139]) * xx[4]); |
| 3930 | J[122] = - (xx[155] + xx[77]); |
| 3931 | J[123] = - (xx[158] + xx[80]); |
| 3932 | J[124] = - ((xx[146] * xx[91] + xx[152]) * xx[4] + xx[161]); |
| 3933 | return 3; |
| 3934 | } |
| 3935 | |
| 3936 | static size_t computeAssemblyJacobian_1(const double *rtdv, const double *state, |
| 3937 | const double *motionData, double *J) |
| 3938 | { |
| 3939 | double xx[160]; |
| 3940 | (void) rtdv; |
| 3941 | xx[0] = 0.0; |
| 3942 | xx[1] = 0.3895853754265615; |
| 3943 | xx[2] = 0.5; |
| 3944 | xx[3] = xx[2] * state[12]; |
| 3945 | xx[4] = cos(xx[3]); |
| 3946 | xx[5] = 0.389581900177037; |
| 3947 | xx[6] = sin(xx[3]); |
| 3948 | xx[3] = xx[1] * xx[4] - xx[5] * xx[6]; |
| 3949 | xx[7] = 0.5901074779979933; |
| 3950 | xx[8] = 0.5901036711621462; |
| 3951 | xx[9] = xx[7] * xx[4] + xx[8] * xx[6]; |
| 3952 | xx[10] = - xx[9]; |
| 3953 | xx[11] = xx[8] * xx[4] - xx[7] * xx[6]; |
| 3954 | xx[7] = xx[5] * xx[4] + xx[1] * xx[6]; |
| 3955 | xx[1] = - xx[7]; |
| 3956 | xx[12] = xx[3]; |
| 3957 | xx[13] = xx[10]; |
| 3958 | xx[14] = xx[11]; |
| 3959 | xx[15] = xx[1]; |
| 3960 | xx[16] = motionData[322]; |
| 3961 | xx[17] = motionData[323]; |
| 3962 | xx[18] = motionData[324]; |
| 3963 | xx[19] = motionData[325]; |
| 3964 | pm_math_quatCompose(xx + 12, xx + 16, xx + 20); |
| 3965 | xx[4] = 2.0; |
| 3966 | xx[5] = 1.0; |
| 3967 | xx[12] = xx[4] * (motionData[322] * motionData[324] - motionData[323] * |
| 3968 | motionData[325]); |
| 3969 | xx[13] = - ((motionData[322] * motionData[323] + motionData[324] * motionData |
| 3970 | [325]) * xx[4]); |
| 3971 | xx[14] = (motionData[323] * motionData[323] + motionData[324] * motionData[324]) |
| 3972 | * xx[4] - xx[5]; |
| 3973 | xx[6] = 7.599121945184391e-12; |
| 3974 | xx[8] = 5.036130209737022e-12; |
| 3975 | xx[15] = 5.192027881355888e-12; |
| 3976 | xx[16] = - xx[6]; |
| 3977 | xx[17] = xx[8]; |
| 3978 | xx[18] = - xx[15]; |
| 3979 | pm_math_cross3(xx + 12, xx + 16, xx + 24); |
| 3980 | pm_math_quatXform(xx + 20, xx + 24, xx + 12); |
| 3981 | xx[19] = xx[10]; |
| 3982 | xx[20] = xx[11]; |
| 3983 | xx[21] = xx[1]; |
| 3984 | xx[1] = xx[7] * motionData[326]; |
| 3985 | xx[10] = xx[7] * motionData[327]; |
| 3986 | xx[22] = xx[11] * motionData[327] - xx[9] * motionData[326]; |
| 3987 | xx[23] = - xx[1]; |
| 3988 | xx[24] = - xx[10]; |
| 3989 | xx[25] = - xx[22]; |
| 3990 | pm_math_cross3(xx + 19, xx + 23, xx + 26); |
| 3991 | xx[19] = 0.02520954632904373; |
| 3992 | xx[20] = xx[19] * xx[9]; |
| 3993 | xx[21] = xx[19] * xx[7]; |
| 3994 | xx[23] = xx[2] * state[14]; |
| 3995 | xx[24] = cos(xx[23]); |
| 3996 | xx[25] = sin(xx[23]); |
| 3997 | xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16]; |
| 3998 | xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]); |
| 3999 | xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17]; |
| 4000 | xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16]; |
| 4001 | xx[33] = motionData[315]; |
| 4002 | xx[34] = motionData[316]; |
| 4003 | xx[35] = motionData[317]; |
| 4004 | xx[36] = motionData[318]; |
| 4005 | pm_math_quatCompose(xx + 29, xx + 33, xx + 37); |
| 4006 | xx[29] = xx[4] * (motionData[316] * motionData[318] - motionData[315] * |
| 4007 | motionData[317]); |
| 4008 | xx[30] = (motionData[315] * motionData[316] + motionData[317] * motionData[318]) |
| 4009 | * xx[4]; |
| 4010 | xx[31] = xx[5] - (motionData[316] * motionData[316] + motionData[317] * |
| 4011 | motionData[317]) * xx[4]; |
| 4012 | pm_math_cross3(xx + 29, xx + 16, xx + 32); |
| 4013 | pm_math_quatXform(xx + 37, xx + 32, xx + 29); |
| 4014 | xx[23] = xx[25] * motionData[320] - xx[24] * motionData[319]; |
| 4015 | xx[32] = 7.748428954013064e-12; |
| 4016 | xx[33] = 5.376764528053357e-12; |
| 4017 | xx[34] = xx[32] * xx[24] - xx[33] * xx[25]; |
| 4018 | xx[35] = xx[4] * xx[25] * xx[23] - (motionData[320] + xx[4] * xx[34] * xx[25]) |
| 4019 | - xx[33]; |
| 4020 | xx[36] = motionData[15]; |
| 4021 | xx[37] = motionData[16]; |
| 4022 | xx[38] = motionData[17]; |
| 4023 | xx[25] = motionData[319] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] + |
| 4024 | xx[32]; |
| 4025 | xx[23] = xx[25] * motionData[17]; |
| 4026 | xx[24] = xx[35] * motionData[17]; |
| 4027 | xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16]; |
| 4028 | xx[39] = - xx[23]; |
| 4029 | xx[40] = xx[24]; |
| 4030 | xx[41] = xx[32]; |
| 4031 | pm_math_cross3(xx + 36, xx + 39, xx + 42); |
| 4032 | xx[36] = motionData[203]; |
| 4033 | xx[37] = motionData[204]; |
| 4034 | xx[38] = motionData[205]; |
| 4035 | xx[39] = motionData[206]; |
| 4036 | xx[33] = 3.980251324392935e-7; |
| 4037 | xx[34] = 0.999999999999921; |
| 4038 | xx[40] = xx[33] * state[19] - xx[34] * state[16]; |
| 4039 | xx[41] = xx[33] * state[18] + xx[34] * state[17]; |
| 4040 | xx[45] = - xx[41]; |
| 4041 | xx[46] = xx[34] * state[18] - xx[33] * state[17]; |
| 4042 | xx[47] = - xx[46]; |
| 4043 | xx[48] = xx[33] * state[16] + xx[34] * state[19]; |
| 4044 | xx[49] = - xx[48]; |
| 4045 | xx[50] = xx[40]; |
| 4046 | xx[51] = xx[45]; |
| 4047 | xx[52] = xx[47]; |
| 4048 | xx[53] = xx[49]; |
| 4049 | pm_math_quatCompose(xx + 36, xx + 50, xx + 54); |
| 4050 | xx[58] = motionData[308]; |
| 4051 | xx[59] = motionData[309]; |
| 4052 | xx[60] = motionData[310]; |
| 4053 | xx[61] = motionData[311]; |
| 4054 | pm_math_quatCompose(xx + 54, xx + 58, xx + 62); |
| 4055 | xx[54] = motionData[309]; |
| 4056 | xx[55] = motionData[310]; |
| 4057 | xx[56] = motionData[311]; |
| 4058 | xx[57] = 7.960502648785241e-7; |
| 4059 | xx[58] = xx[57] * motionData[311]; |
| 4060 | xx[59] = xx[57] * motionData[309] + motionData[310]; |
| 4061 | xx[66] = xx[58]; |
| 4062 | xx[67] = motionData[311]; |
| 4063 | xx[68] = - xx[59]; |
| 4064 | pm_math_cross3(xx + 54, xx + 66, xx + 69); |
| 4065 | xx[60] = motionData[308] * motionData[311]; |
| 4066 | xx[66] = xx[5] + (xx[69] - xx[58] * motionData[308]) * xx[4]; |
| 4067 | xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57]; |
| 4068 | xx[68] = xx[4] * (xx[71] + xx[59] * motionData[308]); |
| 4069 | pm_math_cross3(xx + 66, xx + 16, xx + 69); |
| 4070 | pm_math_quatXform(xx + 62, xx + 69, xx + 66); |
| 4071 | xx[59] = - (xx[57] * motionData[314]); |
| 4072 | xx[69] = xx[59]; |
| 4073 | xx[70] = - motionData[314]; |
| 4074 | xx[71] = motionData[313] + xx[57] * motionData[312]; |
| 4075 | pm_math_quatXform(xx + 50, xx + 69, xx + 72); |
| 4076 | xx[61] = 2.329280111075767e-13; |
| 4077 | xx[69] = 2.926046524751139e-7; |
| 4078 | xx[75] = xx[61]; |
| 4079 | xx[76] = xx[69]; |
| 4080 | xx[77] = 0.04575000000718987; |
| 4081 | pm_math_quatXform(xx + 50, xx + 75, xx + 78); |
| 4082 | xx[81] = xx[72] + xx[78]; |
| 4083 | xx[82] = xx[73] + xx[79]; |
| 4084 | xx[83] = xx[74] + xx[80]; |
| 4085 | pm_math_quatXform(xx + 36, xx + 81, xx + 70); |
| 4086 | xx[73] = motionData[309] - xx[57] * motionData[310]; |
| 4087 | xx[78] = - motionData[311]; |
| 4088 | xx[79] = xx[58]; |
| 4089 | xx[80] = xx[73]; |
| 4090 | pm_math_cross3(xx + 54, xx + 78, xx + 81); |
| 4091 | xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4]; |
| 4092 | xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]); |
| 4093 | xx[56] = xx[4] * (xx[83] - xx[73] * motionData[308]); |
| 4094 | pm_math_cross3(xx + 54, xx + 16, xx + 78); |
| 4095 | pm_math_quatXform(xx + 62, xx + 78, xx + 54); |
| 4096 | xx[78] = motionData[314]; |
| 4097 | xx[79] = xx[59]; |
| 4098 | xx[80] = xx[57] * motionData[313] - motionData[312]; |
| 4099 | pm_math_quatXform(xx + 50, xx + 78, xx + 57); |
| 4100 | xx[78] = - xx[69]; |
| 4101 | xx[79] = xx[61]; |
| 4102 | xx[80] = 7.670997177269469e-12; |
| 4103 | pm_math_quatXform(xx + 50, xx + 78, xx + 81); |
| 4104 | xx[50] = xx[57] + xx[81]; |
| 4105 | xx[51] = xx[58] + xx[82]; |
| 4106 | xx[52] = xx[59] + xx[83]; |
| 4107 | pm_math_quatXform(xx + 36, xx + 50, xx + 57); |
| 4108 | xx[50] = xx[4] * (motionData[309] * motionData[311] - motionData[308] * |
| 4109 | motionData[310]); |
| 4110 | xx[51] = (motionData[308] * motionData[309] + motionData[310] * motionData[311]) |
| 4111 | * xx[4]; |
| 4112 | xx[52] = xx[5] - (motionData[309] * motionData[309] + motionData[310] * |
| 4113 | motionData[310]) * xx[4]; |
| 4114 | pm_math_cross3(xx + 50, xx + 16, xx + 81); |
| 4115 | pm_math_quatXform(xx + 62, xx + 81, xx + 50); |
| 4116 | xx[60] = xx[45]; |
| 4117 | xx[61] = xx[47]; |
| 4118 | xx[62] = xx[49]; |
| 4119 | xx[45] = xx[48] * motionData[312]; |
| 4120 | xx[47] = xx[48] * motionData[313]; |
| 4121 | xx[49] = xx[41] * motionData[312] + xx[46] * motionData[313]; |
| 4122 | xx[63] = xx[45]; |
| 4123 | xx[64] = xx[47]; |
| 4124 | xx[65] = - xx[49]; |
| 4125 | pm_math_cross3(xx + 60, xx + 63, xx + 81); |
| 4126 | xx[53] = 3.641162862673871e-8; |
| 4127 | xx[63] = xx[53] * xx[48]; |
| 4128 | xx[64] = 0.04575000000717538; |
| 4129 | xx[65] = xx[64] * xx[48]; |
| 4130 | xx[48] = xx[53] * xx[41] + xx[46] * xx[64]; |
| 4131 | xx[84] = xx[63]; |
| 4132 | xx[85] = xx[65]; |
| 4133 | xx[86] = - xx[48]; |
| 4134 | pm_math_cross3(xx + 60, xx + 84, xx + 87); |
| 4135 | xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40]) |
| 4136 | - motionData[313] - xx[64]; |
| 4137 | xx[61] = motionData[312] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx |
| 4138 | [40] + xx[88]) * xx[4] + xx[53]; |
| 4139 | xx[62] = (xx[83] - xx[40] * xx[49]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx |
| 4140 | [4]; |
| 4141 | pm_math_quatXform(xx + 36, xx + 60, xx + 45); |
| 4142 | xx[36] = motionData[210]; |
| 4143 | xx[37] = motionData[211]; |
| 4144 | xx[38] = motionData[212]; |
| 4145 | xx[39] = motionData[213]; |
| 4146 | xx[40] = 3.980251340548381e-7; |
| 4147 | xx[41] = xx[34] * state[26] - xx[40] * state[23]; |
| 4148 | xx[48] = xx[34] * state[25] - xx[40] * state[24]; |
| 4149 | xx[49] = xx[40] * state[25] + xx[34] * state[24]; |
| 4150 | xx[60] = - xx[49]; |
| 4151 | xx[61] = xx[40] * state[26] + xx[34] * state[23]; |
| 4152 | xx[40] = - xx[61]; |
| 4153 | xx[81] = xx[41]; |
| 4154 | xx[82] = xx[48]; |
| 4155 | xx[83] = xx[60]; |
| 4156 | xx[84] = xx[40]; |
| 4157 | pm_math_quatCompose(xx + 36, xx + 81, xx + 85); |
| 4158 | xx[81] = motionData[301]; |
| 4159 | xx[82] = motionData[302]; |
| 4160 | xx[83] = motionData[303]; |
| 4161 | xx[84] = motionData[304]; |
| 4162 | pm_math_quatCompose(xx + 85, xx + 81, xx + 89); |
| 4163 | xx[62] = motionData[303] * motionData[303]; |
| 4164 | xx[63] = motionData[304] * motionData[304]; |
| 4165 | xx[65] = motionData[302] * motionData[303]; |
| 4166 | xx[69] = motionData[301] * motionData[304]; |
| 4167 | xx[73] = motionData[301] * motionData[303]; |
| 4168 | xx[74] = motionData[302] * motionData[304]; |
| 4169 | xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4]; |
| 4170 | xx[82] = xx[4] * (xx[65] - xx[69]); |
| 4171 | xx[83] = (xx[73] + xx[74]) * xx[4]; |
| 4172 | pm_math_cross3(xx + 81, xx + 16, xx + 84); |
| 4173 | pm_math_quatXform(xx + 89, xx + 84, xx + 81); |
| 4174 | xx[84] = xx[48]; |
| 4175 | xx[85] = xx[60]; |
| 4176 | xx[86] = xx[40]; |
| 4177 | xx[40] = xx[49] * motionData[306]; |
| 4178 | xx[60] = xx[61] * motionData[307]; |
| 4179 | xx[87] = xx[40] + xx[60]; |
| 4180 | xx[88] = xx[48] * motionData[306]; |
| 4181 | xx[93] = xx[48] * motionData[307]; |
| 4182 | xx[94] = - xx[87]; |
| 4183 | xx[95] = - xx[88]; |
| 4184 | xx[96] = - xx[93]; |
| 4185 | pm_math_cross3(xx + 84, xx + 94, xx + 97); |
| 4186 | xx[94] = xx[49] * xx[8]; |
| 4187 | xx[95] = xx[61] * xx[15]; |
| 4188 | xx[96] = xx[94] - xx[95]; |
| 4189 | xx[100] = xx[8] * xx[48]; |
| 4190 | xx[101] = xx[15] * xx[48]; |
| 4191 | xx[102] = xx[96]; |
| 4192 | xx[103] = xx[100]; |
| 4193 | xx[104] = - xx[101]; |
| 4194 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 4195 | xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) * |
| 4196 | xx[4]; |
| 4197 | xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] * |
| 4198 | xx[41]) - motionData[307] - xx[15]; |
| 4199 | xx[104] = motionData[306] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] - |
| 4200 | xx[101] * xx[41]) * xx[4] - xx[8]; |
| 4201 | pm_math_quatXform(xx + 36, xx + 102, xx + 96); |
| 4202 | xx[87] = motionData[302] * motionData[302]; |
| 4203 | xx[88] = motionData[303] * motionData[304]; |
| 4204 | xx[93] = motionData[301] * motionData[302]; |
| 4205 | xx[99] = (xx[69] + xx[65]) * xx[4]; |
| 4206 | xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4]; |
| 4207 | xx[101] = xx[4] * (xx[88] - xx[93]); |
| 4208 | pm_math_cross3(xx + 99, xx + 16, xx + 102); |
| 4209 | pm_math_quatXform(xx + 89, xx + 102, xx + 99); |
| 4210 | xx[63] = xx[49] * motionData[305]; |
| 4211 | xx[65] = xx[48] * motionData[305]; |
| 4212 | xx[69] = xx[65] - xx[60]; |
| 4213 | xx[60] = xx[49] * motionData[307]; |
| 4214 | xx[102] = xx[63]; |
| 4215 | xx[103] = xx[69]; |
| 4216 | xx[104] = xx[60]; |
| 4217 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 4218 | xx[102] = xx[49] * xx[6]; |
| 4219 | xx[103] = xx[6] * xx[48]; |
| 4220 | xx[48] = xx[95] - xx[103]; |
| 4221 | xx[95] = xx[49] * xx[15]; |
| 4222 | xx[108] = xx[102]; |
| 4223 | xx[109] = - xx[48]; |
| 4224 | xx[110] = xx[95]; |
| 4225 | pm_math_cross3(xx + 84, xx + 108, xx + 111); |
| 4226 | xx[108] = motionData[307] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx |
| 4227 | [111] + xx[102] * xx[41]) + xx[15]; |
| 4228 | xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] * |
| 4229 | xx[41]); |
| 4230 | xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) * |
| 4231 | xx[4] - motionData[305] - xx[6]; |
| 4232 | pm_math_quatXform(xx + 36, xx + 108, xx + 104); |
| 4233 | xx[107] = xx[4] * (xx[74] - xx[73]); |
| 4234 | xx[108] = (xx[93] + xx[88]) * xx[4]; |
| 4235 | xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4]; |
| 4236 | pm_math_cross3(xx + 107, xx + 16, xx + 110); |
| 4237 | pm_math_quatXform(xx + 89, xx + 110, xx + 107); |
| 4238 | xx[15] = xx[61] * motionData[305]; |
| 4239 | xx[48] = xx[61] * motionData[306]; |
| 4240 | xx[49] = xx[65] - xx[40]; |
| 4241 | xx[87] = xx[15]; |
| 4242 | xx[88] = xx[48]; |
| 4243 | xx[89] = xx[49]; |
| 4244 | pm_math_cross3(xx + 84, xx + 87, xx + 90); |
| 4245 | xx[40] = xx[61] * xx[6]; |
| 4246 | xx[60] = xx[61] * xx[8]; |
| 4247 | xx[61] = xx[103] + xx[94]; |
| 4248 | xx[87] = xx[40]; |
| 4249 | xx[88] = - xx[60]; |
| 4250 | xx[89] = xx[61]; |
| 4251 | pm_math_cross3(xx + 84, xx + 87, xx + 93); |
| 4252 | xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx |
| 4253 | [4] - motionData[306] + xx[8]; |
| 4254 | xx[85] = motionData[305] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94] |
| 4255 | - xx[60] * xx[41]) + xx[6]; |
| 4256 | xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx |
| 4257 | [4]; |
| 4258 | pm_math_quatXform(xx + 36, xx + 84, xx + 60); |
| 4259 | xx[15] = xx[2] * state[30]; |
| 4260 | xx[36] = cos(xx[15]); |
| 4261 | xx[37] = sin(xx[15]); |
| 4262 | xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220]; |
| 4263 | xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219]; |
| 4264 | xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218]; |
| 4265 | xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220]; |
| 4266 | xx[84] = motionData[56]; |
| 4267 | xx[85] = motionData[57]; |
| 4268 | xx[86] = motionData[58]; |
| 4269 | xx[87] = motionData[59]; |
| 4270 | pm_math_quatCompose(xx + 38, xx + 84, xx + 88); |
| 4271 | xx[38] = xx[4] * (motionData[57] * motionData[59] - motionData[56] * |
| 4272 | motionData[58]); |
| 4273 | xx[39] = (motionData[56] * motionData[57] + motionData[58] * motionData[59]) * |
| 4274 | xx[4]; |
| 4275 | xx[40] = xx[5] - (motionData[57] * motionData[57] + motionData[58] * |
| 4276 | motionData[58]) * xx[4]; |
| 4277 | pm_math_cross3(xx + 38, xx + 16, xx + 84); |
| 4278 | pm_math_quatXform(xx + 88, xx + 84, xx + 15); |
| 4279 | xx[18] = xx[37] * motionData[61]; |
| 4280 | xx[38] = xx[37] * motionData[60]; |
| 4281 | xx[39] = 0.02540000000000185; |
| 4282 | xx[40] = xx[39] * xx[37]; |
| 4283 | xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[61] + xx[4] * |
| 4284 | xx[36] * xx[40]; |
| 4285 | xx[84] = motionData[218]; |
| 4286 | xx[85] = motionData[219]; |
| 4287 | xx[86] = motionData[220]; |
| 4288 | xx[48] = motionData[60] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4] |
| 4289 | * xx[40] * xx[37]) - xx[39]; |
| 4290 | xx[18] = xx[48] * motionData[220]; |
| 4291 | xx[36] = xx[41] * motionData[220]; |
| 4292 | xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219]; |
| 4293 | xx[38] = - xx[18]; |
| 4294 | xx[39] = xx[36]; |
| 4295 | xx[40] = xx[37]; |
| 4296 | pm_math_cross3(xx + 84, xx + 38, xx + 87); |
| 4297 | xx[90] = motionData[224]; |
| 4298 | xx[91] = motionData[225]; |
| 4299 | xx[92] = motionData[226]; |
| 4300 | xx[93] = motionData[227]; |
| 4301 | xx[38] = 0.6123724356957949; |
| 4302 | xx[39] = xx[2] * state[34]; |
| 4303 | xx[40] = sin(xx[39]); |
| 4304 | xx[49] = xx[38] * xx[40]; |
| 4305 | xx[63] = cos(xx[39]); |
| 4306 | xx[39] = xx[38] * xx[63]; |
| 4307 | xx[38] = xx[49] - xx[39]; |
| 4308 | xx[65] = 0.3535533905932732; |
| 4309 | xx[69] = xx[65] * xx[63]; |
| 4310 | xx[63] = xx[65] * xx[40]; |
| 4311 | xx[40] = xx[69] + xx[63]; |
| 4312 | xx[65] = - xx[40]; |
| 4313 | xx[73] = xx[63] - xx[69]; |
| 4314 | xx[63] = xx[49] + xx[39]; |
| 4315 | xx[39] = - xx[63]; |
| 4316 | xx[110] = xx[38]; |
| 4317 | xx[111] = xx[65]; |
| 4318 | xx[112] = xx[73]; |
| 4319 | xx[113] = xx[39]; |
| 4320 | pm_math_quatCompose(xx + 90, xx + 110, xx + 114); |
| 4321 | xx[49] = xx[6] * xx[117]; |
| 4322 | xx[69] = xx[8] * xx[116] - xx[6] * xx[115]; |
| 4323 | xx[84] = xx[49]; |
| 4324 | xx[85] = - (xx[8] * xx[117]); |
| 4325 | xx[86] = xx[69]; |
| 4326 | pm_math_cross3(xx + 115, xx + 84, xx + 110); |
| 4327 | xx[84] = xx[65]; |
| 4328 | xx[85] = xx[73]; |
| 4329 | xx[86] = xx[39]; |
| 4330 | xx[39] = 1.121202762681406e-11; |
| 4331 | xx[65] = xx[63] * xx[39]; |
| 4332 | xx[74] = 6.145027516349377e-13; |
| 4333 | xx[94] = xx[63] * xx[74]; |
| 4334 | xx[63] = xx[74] * xx[73] - xx[40] * xx[39]; |
| 4335 | xx[118] = xx[65]; |
| 4336 | xx[119] = xx[94]; |
| 4337 | xx[120] = xx[63]; |
| 4338 | pm_math_cross3(xx + 84, xx + 118, xx + 121); |
| 4339 | xx[84] = xx[4] * (xx[121] + xx[65] * xx[38]) - xx[74]; |
| 4340 | xx[85] = xx[39] + (xx[94] * xx[38] + xx[122]) * xx[4]; |
| 4341 | xx[86] = (xx[63] * xx[38] + xx[123]) * xx[4]; |
| 4342 | pm_math_quatXform(xx + 90, xx + 84, xx + 38); |
| 4343 | xx[63] = 0.04233709306330295; |
| 4344 | xx[65] = xx[2] * state[53]; |
| 4345 | xx[73] = cos(xx[65]); |
| 4346 | xx[74] = 0.04233598682685397; |
| 4347 | xx[84] = sin(xx[65]); |
| 4348 | xx[65] = xx[63] * xx[73] + xx[74] * xx[84]; |
| 4349 | xx[85] = 0.7058357201813958; |
| 4350 | xx[86] = 0.7058407546227096; |
| 4351 | xx[90] = xx[85] * xx[84] - xx[86] * xx[73]; |
| 4352 | xx[91] = xx[85] * xx[73] + xx[86] * xx[84]; |
| 4353 | xx[85] = xx[63] * xx[84] - xx[74] * xx[73]; |
| 4354 | xx[92] = xx[65]; |
| 4355 | xx[93] = xx[90]; |
| 4356 | xx[94] = xx[91]; |
| 4357 | xx[95] = xx[85]; |
| 4358 | xx[118] = motionData[294]; |
| 4359 | xx[119] = motionData[295]; |
| 4360 | xx[120] = motionData[296]; |
| 4361 | xx[121] = motionData[297]; |
| 4362 | pm_math_quatCompose(xx + 92, xx + 118, xx + 122); |
| 4363 | xx[92] = xx[4] * (motionData[295] * motionData[297] - motionData[294] * |
| 4364 | motionData[296]); |
| 4365 | xx[93] = (motionData[294] * motionData[295] + motionData[296] * motionData[297]) |
| 4366 | * xx[4]; |
| 4367 | xx[94] = xx[5] - (motionData[295] * motionData[295] + motionData[296] * |
| 4368 | motionData[296]) * xx[4]; |
| 4369 | xx[63] = 3.641924106626229e-8; |
| 4370 | xx[73] = 0.04574999999998041; |
| 4371 | xx[74] = 2.92603149291605e-7; |
| 4372 | xx[118] = xx[63]; |
| 4373 | xx[119] = xx[73]; |
| 4374 | xx[120] = xx[74]; |
| 4375 | pm_math_cross3(xx + 92, xx + 118, xx + 126); |
| 4376 | pm_math_quatXform(xx + 122, xx + 126, xx + 92); |
| 4377 | xx[121] = xx[90]; |
| 4378 | xx[122] = xx[91]; |
| 4379 | xx[123] = xx[85]; |
| 4380 | xx[84] = xx[85] * motionData[298]; |
| 4381 | xx[86] = xx[85] * motionData[299]; |
| 4382 | xx[95] = xx[90] * motionData[298] + xx[91] * motionData[299]; |
| 4383 | xx[124] = - xx[84]; |
| 4384 | xx[125] = - xx[86]; |
| 4385 | xx[126] = xx[95]; |
| 4386 | pm_math_cross3(xx + 121, xx + 124, xx + 127); |
| 4387 | xx[102] = 0.02520954632904374; |
| 4388 | xx[103] = xx[90] * xx[102]; |
| 4389 | xx[113] = xx[85] * xx[102]; |
| 4390 | xx[115] = xx[2] * state[55]; |
| 4391 | xx[2] = cos(xx[115]); |
| 4392 | xx[116] = sin(xx[115]); |
| 4393 | xx[121] = xx[2] * motionData[106] - xx[116] * motionData[107]; |
| 4394 | xx[122] = - (xx[2] * motionData[105] + xx[116] * motionData[108]); |
| 4395 | xx[123] = xx[116] * motionData[105] - xx[2] * motionData[108]; |
| 4396 | xx[124] = xx[116] * motionData[106] + xx[2] * motionData[107]; |
| 4397 | xx[130] = motionData[119]; |
| 4398 | xx[131] = motionData[120]; |
| 4399 | xx[132] = motionData[121]; |
| 4400 | xx[133] = motionData[122]; |
| 4401 | pm_math_quatCompose(xx + 121, xx + 130, xx + 134); |
| 4402 | xx[121] = xx[4] * (motionData[120] * motionData[122] - motionData[119] * |
| 4403 | motionData[121]); |
| 4404 | xx[122] = (motionData[119] * motionData[120] + motionData[121] * motionData |
| 4405 | [122]) * xx[4]; |
| 4406 | xx[123] = xx[5] - (motionData[120] * motionData[120] + motionData[121] * |
| 4407 | motionData[121]) * xx[4]; |
| 4408 | pm_math_cross3(xx + 121, xx + 118, xx + 124); |
| 4409 | pm_math_quatXform(xx + 134, xx + 124, xx + 118); |
| 4410 | xx[5] = xx[116] * motionData[124] - xx[2] * motionData[123]; |
| 4411 | xx[115] = 9.27756931389703e-12; |
| 4412 | xx[121] = 5.443558296964576e-12; |
| 4413 | xx[122] = xx[115] * xx[2] + xx[121] * xx[116]; |
| 4414 | xx[123] = xx[4] * xx[116] * xx[5] - (motionData[124] + xx[4] * xx[122] * xx |
| 4415 | [116]) + xx[121]; |
| 4416 | xx[124] = motionData[106]; |
| 4417 | xx[125] = motionData[107]; |
| 4418 | xx[126] = motionData[108]; |
| 4419 | xx[116] = motionData[123] + xx[4] * xx[2] * xx[5] - xx[4] * xx[122] * xx[2] + |
| 4420 | xx[115]; |
| 4421 | xx[2] = xx[116] * motionData[108]; |
| 4422 | xx[5] = xx[123] * motionData[108]; |
| 4423 | xx[115] = xx[116] * motionData[106] - xx[123] * motionData[107]; |
| 4424 | xx[130] = - xx[2]; |
| 4425 | xx[131] = xx[5]; |
| 4426 | xx[132] = xx[115]; |
| 4427 | pm_math_cross3(xx + 124, xx + 130, xx + 133); |
| 4428 | xx[136] = motionData[273]; |
| 4429 | xx[137] = motionData[274]; |
| 4430 | xx[138] = motionData[275]; |
| 4431 | xx[139] = motionData[276]; |
| 4432 | xx[121] = xx[33] * state[60] - xx[34] * state[57]; |
| 4433 | xx[122] = xx[33] * state[59] + xx[34] * state[58]; |
| 4434 | xx[124] = - xx[122]; |
| 4435 | xx[125] = xx[34] * state[59] - xx[33] * state[58]; |
| 4436 | xx[126] = - xx[125]; |
| 4437 | xx[130] = xx[33] * state[57] + xx[34] * state[60]; |
| 4438 | xx[33] = - xx[130]; |
| 4439 | xx[140] = xx[121]; |
| 4440 | xx[141] = xx[124]; |
| 4441 | xx[142] = xx[126]; |
| 4442 | xx[143] = xx[33]; |
| 4443 | pm_math_quatCompose(xx + 136, xx + 140, xx + 144); |
| 4444 | xx[34] = - 2.329268144978725e-13; |
| 4445 | xx[148] = xx[34]; |
| 4446 | xx[149] = - xx[74]; |
| 4447 | xx[150] = 0.0457500000000094; |
| 4448 | pm_math_quatXform(xx + 144, xx + 148, xx + 151); |
| 4449 | pm_math_quatXform(xx + 140, xx + 75, xx + 148); |
| 4450 | pm_math_quatXform(xx + 136, xx + 148, xx + 75); |
| 4451 | xx[148] = xx[74]; |
| 4452 | xx[149] = xx[34]; |
| 4453 | xx[150] = 5.855191459023036e-14; |
| 4454 | pm_math_quatXform(xx + 144, xx + 148, xx + 154); |
| 4455 | pm_math_quatXform(xx + 140, xx + 78, xx + 148); |
| 4456 | pm_math_quatXform(xx + 136, xx + 148, xx + 78); |
| 4457 | xx[34] = xx[63] * xx[147]; |
| 4458 | xx[74] = xx[63] * xx[145] + xx[73] * xx[146]; |
| 4459 | xx[140] = - xx[34]; |
| 4460 | xx[141] = - (xx[73] * xx[147]); |
| 4461 | xx[142] = xx[74]; |
| 4462 | pm_math_cross3(xx + 145, xx + 140, xx + 148); |
| 4463 | xx[140] = xx[124]; |
| 4464 | xx[141] = xx[126]; |
| 4465 | xx[142] = xx[33]; |
| 4466 | xx[33] = xx[53] * xx[130]; |
| 4467 | xx[124] = xx[64] * xx[130]; |
| 4468 | xx[126] = xx[53] * xx[122] + xx[125] * xx[64]; |
| 4469 | xx[130] = xx[33]; |
| 4470 | xx[131] = xx[124]; |
| 4471 | xx[132] = - xx[126]; |
| 4472 | pm_math_cross3(xx + 140, xx + 130, xx + 157); |
| 4473 | xx[130] = xx[4] * (xx[157] + xx[33] * xx[121]) - xx[64]; |
| 4474 | xx[131] = xx[53] + (xx[124] * xx[121] + xx[158]) * xx[4]; |
| 4475 | xx[132] = (xx[159] - xx[126] * xx[121]) * xx[4]; |
| 4476 | pm_math_quatXform(xx + 136, xx + 130, xx + 124); |
| 4477 | J[6] = xx[12] + motionData[327] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] * |
| 4478 | (xx[11] * xx[20] - xx[3] * xx[21]); |
| 4479 | J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]); |
| 4480 | J[8] = xx[66] + xx[70]; |
| 4481 | J[9] = xx[54] + xx[57]; |
| 4482 | J[10] = xx[50] + xx[45]; |
| 4483 | J[11] = xx[81] + xx[96]; |
| 4484 | J[12] = xx[99] + xx[104]; |
| 4485 | J[13] = xx[107] + xx[60]; |
| 4486 | J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]); |
| 4487 | J[16] = xx[4] * (xx[110] + xx[114] * xx[49]) + xx[38] - xx[8]; |
| 4488 | J[25] = - (xx[92] + xx[4] * (xx[127] - xx[84] * xx[65]) - motionData[299] + |
| 4489 | xx[4] * (xx[103] * xx[91] - xx[113] * xx[65])); |
| 4490 | J[26] = - (xx[118] + xx[123] + xx[4] * (xx[133] - xx[2] * motionData[105])); |
| 4491 | J[27] = - (xx[151] + xx[75]); |
| 4492 | J[28] = - (xx[154] + xx[78]); |
| 4493 | J[29] = - (xx[4] * (xx[148] - xx[144] * xx[34]) + xx[124] - xx[73]); |
| 4494 | J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[326] - (xx[21] |
| 4495 | * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19]; |
| 4496 | J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4]; |
| 4497 | J[53] = xx[67] + xx[71]; |
| 4498 | J[54] = xx[55] + xx[58]; |
| 4499 | J[55] = xx[51] + xx[46]; |
| 4500 | J[56] = xx[82] + xx[97]; |
| 4501 | J[57] = xx[100] + xx[105]; |
| 4502 | J[58] = xx[108] + xx[61]; |
| 4503 | J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4]; |
| 4504 | J[61] = (xx[111] - xx[8] * xx[114] * xx[117]) * xx[4] + xx[39] - xx[6]; |
| 4505 | J[70] = - (xx[93] + motionData[298] + xx[4] * (xx[128] - xx[86] * xx[65]) - |
| 4506 | (xx[85] * xx[113] + xx[90] * xx[103]) * xx[4] + xx[102]); |
| 4507 | J[71] = - (xx[119] + xx[116] + (xx[5] * motionData[105] + xx[134]) * xx[4]); |
| 4508 | J[72] = - (xx[152] + xx[76]); |
| 4509 | J[73] = - (xx[155] + xx[79]); |
| 4510 | J[74] = - ((xx[149] - xx[73] * xx[144] * xx[147]) * xx[4] + xx[125] + xx[63]); |
| 4511 | J[96] = xx[14] + xx[4] * (xx[28] - xx[22] * xx[3]) + (xx[3] * xx[20] + xx[11] * |
| 4512 | xx[21]) * xx[4]; |
| 4513 | J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4]; |
| 4514 | J[98] = xx[68] + xx[72]; |
| 4515 | J[99] = xx[56] + xx[59]; |
| 4516 | J[100] = xx[52] + xx[47]; |
| 4517 | J[101] = xx[83] + xx[98]; |
| 4518 | J[102] = xx[101] + xx[106]; |
| 4519 | J[103] = xx[109] + xx[62]; |
| 4520 | J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4]; |
| 4521 | J[106] = (xx[114] * xx[69] + xx[112]) * xx[4] + xx[40]; |
| 4522 | J[115] = - (xx[94] + (xx[95] * xx[65] + xx[129]) * xx[4] + (xx[103] * xx[65] + |
| 4523 | xx[113] * xx[91]) * xx[4]); |
| 4524 | J[116] = - (xx[120] + (xx[115] * motionData[105] + xx[135]) * xx[4]); |
| 4525 | J[117] = - (xx[153] + xx[77]); |
| 4526 | J[118] = - (xx[156] + xx[80]); |
| 4527 | J[119] = - ((xx[144] * xx[74] + xx[150]) * xx[4] + xx[126]); |
| 4528 | return 3; |
| 4529 | } |
| 4530 | |
| 4531 | static size_t computeAssemblyJacobian_2(const double *rtdv, const double *state, |
| 4532 | const double *motionData, double *J) |
| 4533 | { |
| 4534 | double xx[160]; |
| 4535 | (void) rtdv; |
| 4536 | xx[0] = 0.0; |
| 4537 | xx[1] = 0.3895853754265615; |
| 4538 | xx[2] = 0.5; |
| 4539 | xx[3] = xx[2] * state[12]; |
| 4540 | xx[4] = cos(xx[3]); |
| 4541 | xx[5] = 0.389581900177037; |
| 4542 | xx[6] = sin(xx[3]); |
| 4543 | xx[3] = xx[1] * xx[4] - xx[5] * xx[6]; |
| 4544 | xx[7] = 0.5901074779979933; |
| 4545 | xx[8] = 0.5901036711621462; |
| 4546 | xx[9] = xx[7] * xx[4] + xx[8] * xx[6]; |
| 4547 | xx[10] = - xx[9]; |
| 4548 | xx[11] = xx[8] * xx[4] - xx[7] * xx[6]; |
| 4549 | xx[7] = xx[5] * xx[4] + xx[1] * xx[6]; |
| 4550 | xx[1] = - xx[7]; |
| 4551 | xx[12] = xx[3]; |
| 4552 | xx[13] = xx[10]; |
| 4553 | xx[14] = xx[11]; |
| 4554 | xx[15] = xx[1]; |
| 4555 | xx[16] = motionData[378]; |
| 4556 | xx[17] = motionData[379]; |
| 4557 | xx[18] = motionData[380]; |
| 4558 | xx[19] = motionData[381]; |
| 4559 | pm_math_quatCompose(xx + 12, xx + 16, xx + 20); |
| 4560 | xx[4] = 2.0; |
| 4561 | xx[5] = 1.0; |
| 4562 | xx[12] = xx[4] * (motionData[378] * motionData[380] - motionData[379] * |
| 4563 | motionData[381]); |
| 4564 | xx[13] = - ((motionData[378] * motionData[379] + motionData[380] * motionData |
| 4565 | [381]) * xx[4]); |
| 4566 | xx[14] = (motionData[379] * motionData[379] + motionData[380] * motionData[380]) |
| 4567 | * xx[4] - xx[5]; |
| 4568 | xx[6] = 7.599121945184391e-12; |
| 4569 | xx[8] = 5.036130209737022e-12; |
| 4570 | xx[15] = 5.192027881355888e-12; |
| 4571 | xx[16] = - xx[6]; |
| 4572 | xx[17] = xx[8]; |
| 4573 | xx[18] = - xx[15]; |
| 4574 | pm_math_cross3(xx + 12, xx + 16, xx + 24); |
| 4575 | pm_math_quatXform(xx + 20, xx + 24, xx + 12); |
| 4576 | xx[19] = xx[10]; |
| 4577 | xx[20] = xx[11]; |
| 4578 | xx[21] = xx[1]; |
| 4579 | xx[1] = xx[7] * motionData[382]; |
| 4580 | xx[10] = xx[7] * motionData[383]; |
| 4581 | xx[22] = xx[11] * motionData[383] - xx[9] * motionData[382]; |
| 4582 | xx[23] = - xx[1]; |
| 4583 | xx[24] = - xx[10]; |
| 4584 | xx[25] = - xx[22]; |
| 4585 | pm_math_cross3(xx + 19, xx + 23, xx + 26); |
| 4586 | xx[19] = 0.02520954632904373; |
| 4587 | xx[20] = xx[19] * xx[9]; |
| 4588 | xx[21] = xx[19] * xx[7]; |
| 4589 | xx[23] = xx[2] * state[14]; |
| 4590 | xx[24] = cos(xx[23]); |
| 4591 | xx[25] = sin(xx[23]); |
| 4592 | xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16]; |
| 4593 | xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]); |
| 4594 | xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17]; |
| 4595 | xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16]; |
| 4596 | xx[33] = motionData[371]; |
| 4597 | xx[34] = motionData[372]; |
| 4598 | xx[35] = motionData[373]; |
| 4599 | xx[36] = motionData[374]; |
| 4600 | pm_math_quatCompose(xx + 29, xx + 33, xx + 37); |
| 4601 | xx[29] = xx[4] * (motionData[372] * motionData[374] - motionData[371] * |
| 4602 | motionData[373]); |
| 4603 | xx[30] = (motionData[371] * motionData[372] + motionData[373] * motionData[374]) |
| 4604 | * xx[4]; |
| 4605 | xx[31] = xx[5] - (motionData[372] * motionData[372] + motionData[373] * |
| 4606 | motionData[373]) * xx[4]; |
| 4607 | pm_math_cross3(xx + 29, xx + 16, xx + 32); |
| 4608 | pm_math_quatXform(xx + 37, xx + 32, xx + 29); |
| 4609 | xx[23] = xx[25] * motionData[376] - xx[24] * motionData[375]; |
| 4610 | xx[32] = 7.748428954013064e-12; |
| 4611 | xx[33] = 5.376764528053357e-12; |
| 4612 | xx[34] = xx[32] * xx[24] - xx[33] * xx[25]; |
| 4613 | xx[35] = xx[4] * xx[25] * xx[23] - (motionData[376] + xx[4] * xx[34] * xx[25]) |
| 4614 | - xx[33]; |
| 4615 | xx[36] = motionData[15]; |
| 4616 | xx[37] = motionData[16]; |
| 4617 | xx[38] = motionData[17]; |
| 4618 | xx[25] = motionData[375] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] + |
| 4619 | xx[32]; |
| 4620 | xx[23] = xx[25] * motionData[17]; |
| 4621 | xx[24] = xx[35] * motionData[17]; |
| 4622 | xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16]; |
| 4623 | xx[39] = - xx[23]; |
| 4624 | xx[40] = xx[24]; |
| 4625 | xx[41] = xx[32]; |
| 4626 | pm_math_cross3(xx + 36, xx + 39, xx + 42); |
| 4627 | xx[36] = motionData[203]; |
| 4628 | xx[37] = motionData[204]; |
| 4629 | xx[38] = motionData[205]; |
| 4630 | xx[39] = motionData[206]; |
| 4631 | xx[33] = 3.980251324392935e-7; |
| 4632 | xx[34] = 0.999999999999921; |
| 4633 | xx[40] = xx[33] * state[19] - xx[34] * state[16]; |
| 4634 | xx[41] = xx[33] * state[18] + xx[34] * state[17]; |
| 4635 | xx[45] = - xx[41]; |
| 4636 | xx[46] = xx[34] * state[18] - xx[33] * state[17]; |
| 4637 | xx[47] = - xx[46]; |
| 4638 | xx[48] = xx[33] * state[16] + xx[34] * state[19]; |
| 4639 | xx[49] = - xx[48]; |
| 4640 | xx[50] = xx[40]; |
| 4641 | xx[51] = xx[45]; |
| 4642 | xx[52] = xx[47]; |
| 4643 | xx[53] = xx[49]; |
| 4644 | pm_math_quatCompose(xx + 36, xx + 50, xx + 54); |
| 4645 | xx[58] = motionData[364]; |
| 4646 | xx[59] = motionData[365]; |
| 4647 | xx[60] = motionData[366]; |
| 4648 | xx[61] = motionData[367]; |
| 4649 | pm_math_quatCompose(xx + 54, xx + 58, xx + 62); |
| 4650 | xx[54] = motionData[365]; |
| 4651 | xx[55] = motionData[366]; |
| 4652 | xx[56] = motionData[367]; |
| 4653 | xx[57] = 7.960502648785241e-7; |
| 4654 | xx[58] = xx[57] * motionData[367]; |
| 4655 | xx[59] = xx[57] * motionData[365] + motionData[366]; |
| 4656 | xx[66] = xx[58]; |
| 4657 | xx[67] = motionData[367]; |
| 4658 | xx[68] = - xx[59]; |
| 4659 | pm_math_cross3(xx + 54, xx + 66, xx + 69); |
| 4660 | xx[60] = motionData[364] * motionData[367]; |
| 4661 | xx[66] = xx[5] + (xx[69] - xx[58] * motionData[364]) * xx[4]; |
| 4662 | xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57]; |
| 4663 | xx[68] = xx[4] * (xx[71] + xx[59] * motionData[364]); |
| 4664 | pm_math_cross3(xx + 66, xx + 16, xx + 69); |
| 4665 | pm_math_quatXform(xx + 62, xx + 69, xx + 66); |
| 4666 | xx[59] = - (xx[57] * motionData[370]); |
| 4667 | xx[69] = xx[59]; |
| 4668 | xx[70] = - motionData[370]; |
| 4669 | xx[71] = motionData[369] + xx[57] * motionData[368]; |
| 4670 | pm_math_quatXform(xx + 50, xx + 69, xx + 72); |
| 4671 | xx[61] = 2.329280111075767e-13; |
| 4672 | xx[69] = 2.926046524751139e-7; |
| 4673 | xx[75] = xx[61]; |
| 4674 | xx[76] = xx[69]; |
| 4675 | xx[77] = 0.04575000000718987; |
| 4676 | pm_math_quatXform(xx + 50, xx + 75, xx + 78); |
| 4677 | xx[81] = xx[72] + xx[78]; |
| 4678 | xx[82] = xx[73] + xx[79]; |
| 4679 | xx[83] = xx[74] + xx[80]; |
| 4680 | pm_math_quatXform(xx + 36, xx + 81, xx + 70); |
| 4681 | xx[73] = motionData[365] - xx[57] * motionData[366]; |
| 4682 | xx[78] = - motionData[367]; |
| 4683 | xx[79] = xx[58]; |
| 4684 | xx[80] = xx[73]; |
| 4685 | pm_math_cross3(xx + 54, xx + 78, xx + 81); |
| 4686 | xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4]; |
| 4687 | xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]); |
| 4688 | xx[56] = xx[4] * (xx[83] - xx[73] * motionData[364]); |
| 4689 | pm_math_cross3(xx + 54, xx + 16, xx + 78); |
| 4690 | pm_math_quatXform(xx + 62, xx + 78, xx + 54); |
| 4691 | xx[78] = motionData[370]; |
| 4692 | xx[79] = xx[59]; |
| 4693 | xx[80] = xx[57] * motionData[369] - motionData[368]; |
| 4694 | pm_math_quatXform(xx + 50, xx + 78, xx + 57); |
| 4695 | xx[78] = - xx[69]; |
| 4696 | xx[79] = xx[61]; |
| 4697 | xx[80] = 7.670997177269469e-12; |
| 4698 | pm_math_quatXform(xx + 50, xx + 78, xx + 81); |
| 4699 | xx[50] = xx[57] + xx[81]; |
| 4700 | xx[51] = xx[58] + xx[82]; |
| 4701 | xx[52] = xx[59] + xx[83]; |
| 4702 | pm_math_quatXform(xx + 36, xx + 50, xx + 57); |
| 4703 | xx[50] = xx[4] * (motionData[365] * motionData[367] - motionData[364] * |
| 4704 | motionData[366]); |
| 4705 | xx[51] = (motionData[364] * motionData[365] + motionData[366] * motionData[367]) |
| 4706 | * xx[4]; |
| 4707 | xx[52] = xx[5] - (motionData[365] * motionData[365] + motionData[366] * |
| 4708 | motionData[366]) * xx[4]; |
| 4709 | pm_math_cross3(xx + 50, xx + 16, xx + 81); |
| 4710 | pm_math_quatXform(xx + 62, xx + 81, xx + 50); |
| 4711 | xx[60] = xx[45]; |
| 4712 | xx[61] = xx[47]; |
| 4713 | xx[62] = xx[49]; |
| 4714 | xx[45] = xx[48] * motionData[368]; |
| 4715 | xx[47] = xx[48] * motionData[369]; |
| 4716 | xx[49] = xx[41] * motionData[368] + xx[46] * motionData[369]; |
| 4717 | xx[63] = xx[45]; |
| 4718 | xx[64] = xx[47]; |
| 4719 | xx[65] = - xx[49]; |
| 4720 | pm_math_cross3(xx + 60, xx + 63, xx + 81); |
| 4721 | xx[53] = 3.641162862673871e-8; |
| 4722 | xx[63] = xx[53] * xx[48]; |
| 4723 | xx[64] = 0.04575000000717538; |
| 4724 | xx[65] = xx[64] * xx[48]; |
| 4725 | xx[48] = xx[53] * xx[41] + xx[46] * xx[64]; |
| 4726 | xx[84] = xx[63]; |
| 4727 | xx[85] = xx[65]; |
| 4728 | xx[86] = - xx[48]; |
| 4729 | pm_math_cross3(xx + 60, xx + 84, xx + 87); |
| 4730 | xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40]) |
| 4731 | - motionData[369] - xx[64]; |
| 4732 | xx[61] = motionData[368] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx |
| 4733 | [40] + xx[88]) * xx[4] + xx[53]; |
| 4734 | xx[62] = (xx[83] - xx[40] * xx[49]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx |
| 4735 | [4]; |
| 4736 | pm_math_quatXform(xx + 36, xx + 60, xx + 45); |
| 4737 | xx[36] = motionData[210]; |
| 4738 | xx[37] = motionData[211]; |
| 4739 | xx[38] = motionData[212]; |
| 4740 | xx[39] = motionData[213]; |
| 4741 | xx[40] = 3.980251340548381e-7; |
| 4742 | xx[41] = xx[34] * state[26] - xx[40] * state[23]; |
| 4743 | xx[48] = xx[34] * state[25] - xx[40] * state[24]; |
| 4744 | xx[49] = xx[40] * state[25] + xx[34] * state[24]; |
| 4745 | xx[60] = - xx[49]; |
| 4746 | xx[61] = xx[40] * state[26] + xx[34] * state[23]; |
| 4747 | xx[40] = - xx[61]; |
| 4748 | xx[81] = xx[41]; |
| 4749 | xx[82] = xx[48]; |
| 4750 | xx[83] = xx[60]; |
| 4751 | xx[84] = xx[40]; |
| 4752 | pm_math_quatCompose(xx + 36, xx + 81, xx + 85); |
| 4753 | xx[81] = motionData[357]; |
| 4754 | xx[82] = motionData[358]; |
| 4755 | xx[83] = motionData[359]; |
| 4756 | xx[84] = motionData[360]; |
| 4757 | pm_math_quatCompose(xx + 85, xx + 81, xx + 89); |
| 4758 | xx[62] = motionData[359] * motionData[359]; |
| 4759 | xx[63] = motionData[360] * motionData[360]; |
| 4760 | xx[65] = motionData[358] * motionData[359]; |
| 4761 | xx[69] = motionData[357] * motionData[360]; |
| 4762 | xx[73] = motionData[357] * motionData[359]; |
| 4763 | xx[74] = motionData[358] * motionData[360]; |
| 4764 | xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4]; |
| 4765 | xx[82] = xx[4] * (xx[65] - xx[69]); |
| 4766 | xx[83] = (xx[73] + xx[74]) * xx[4]; |
| 4767 | pm_math_cross3(xx + 81, xx + 16, xx + 84); |
| 4768 | pm_math_quatXform(xx + 89, xx + 84, xx + 81); |
| 4769 | xx[84] = xx[48]; |
| 4770 | xx[85] = xx[60]; |
| 4771 | xx[86] = xx[40]; |
| 4772 | xx[40] = xx[49] * motionData[362]; |
| 4773 | xx[60] = xx[61] * motionData[363]; |
| 4774 | xx[87] = xx[40] + xx[60]; |
| 4775 | xx[88] = xx[48] * motionData[362]; |
| 4776 | xx[93] = xx[48] * motionData[363]; |
| 4777 | xx[94] = - xx[87]; |
| 4778 | xx[95] = - xx[88]; |
| 4779 | xx[96] = - xx[93]; |
| 4780 | pm_math_cross3(xx + 84, xx + 94, xx + 97); |
| 4781 | xx[94] = xx[49] * xx[8]; |
| 4782 | xx[95] = xx[61] * xx[15]; |
| 4783 | xx[96] = xx[94] - xx[95]; |
| 4784 | xx[100] = xx[8] * xx[48]; |
| 4785 | xx[101] = xx[15] * xx[48]; |
| 4786 | xx[102] = xx[96]; |
| 4787 | xx[103] = xx[100]; |
| 4788 | xx[104] = - xx[101]; |
| 4789 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 4790 | xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) * |
| 4791 | xx[4]; |
| 4792 | xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] * |
| 4793 | xx[41]) - motionData[363] - xx[15]; |
| 4794 | xx[104] = motionData[362] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] - |
| 4795 | xx[101] * xx[41]) * xx[4] - xx[8]; |
| 4796 | pm_math_quatXform(xx + 36, xx + 102, xx + 96); |
| 4797 | xx[87] = motionData[358] * motionData[358]; |
| 4798 | xx[88] = motionData[359] * motionData[360]; |
| 4799 | xx[93] = motionData[357] * motionData[358]; |
| 4800 | xx[99] = (xx[69] + xx[65]) * xx[4]; |
| 4801 | xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4]; |
| 4802 | xx[101] = xx[4] * (xx[88] - xx[93]); |
| 4803 | pm_math_cross3(xx + 99, xx + 16, xx + 102); |
| 4804 | pm_math_quatXform(xx + 89, xx + 102, xx + 99); |
| 4805 | xx[63] = xx[49] * motionData[361]; |
| 4806 | xx[65] = xx[48] * motionData[361]; |
| 4807 | xx[69] = xx[65] - xx[60]; |
| 4808 | xx[60] = xx[49] * motionData[363]; |
| 4809 | xx[102] = xx[63]; |
| 4810 | xx[103] = xx[69]; |
| 4811 | xx[104] = xx[60]; |
| 4812 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 4813 | xx[102] = xx[49] * xx[6]; |
| 4814 | xx[103] = xx[6] * xx[48]; |
| 4815 | xx[48] = xx[95] - xx[103]; |
| 4816 | xx[95] = xx[49] * xx[15]; |
| 4817 | xx[108] = xx[102]; |
| 4818 | xx[109] = - xx[48]; |
| 4819 | xx[110] = xx[95]; |
| 4820 | pm_math_cross3(xx + 84, xx + 108, xx + 111); |
| 4821 | xx[108] = motionData[363] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx |
| 4822 | [111] + xx[102] * xx[41]) + xx[15]; |
| 4823 | xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] * |
| 4824 | xx[41]); |
| 4825 | xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) * |
| 4826 | xx[4] - motionData[361] - xx[6]; |
| 4827 | pm_math_quatXform(xx + 36, xx + 108, xx + 104); |
| 4828 | xx[107] = xx[4] * (xx[74] - xx[73]); |
| 4829 | xx[108] = (xx[93] + xx[88]) * xx[4]; |
| 4830 | xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4]; |
| 4831 | pm_math_cross3(xx + 107, xx + 16, xx + 110); |
| 4832 | pm_math_quatXform(xx + 89, xx + 110, xx + 107); |
| 4833 | xx[15] = xx[61] * motionData[361]; |
| 4834 | xx[48] = xx[61] * motionData[362]; |
| 4835 | xx[49] = xx[65] - xx[40]; |
| 4836 | xx[87] = xx[15]; |
| 4837 | xx[88] = xx[48]; |
| 4838 | xx[89] = xx[49]; |
| 4839 | pm_math_cross3(xx + 84, xx + 87, xx + 90); |
| 4840 | xx[40] = xx[61] * xx[6]; |
| 4841 | xx[60] = xx[61] * xx[8]; |
| 4842 | xx[61] = xx[103] + xx[94]; |
| 4843 | xx[87] = xx[40]; |
| 4844 | xx[88] = - xx[60]; |
| 4845 | xx[89] = xx[61]; |
| 4846 | pm_math_cross3(xx + 84, xx + 87, xx + 93); |
| 4847 | xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx |
| 4848 | [4] - motionData[362] + xx[8]; |
| 4849 | xx[85] = motionData[361] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94] |
| 4850 | - xx[60] * xx[41]) + xx[6]; |
| 4851 | xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx |
| 4852 | [4]; |
| 4853 | pm_math_quatXform(xx + 36, xx + 84, xx + 60); |
| 4854 | xx[15] = xx[2] * state[30]; |
| 4855 | xx[36] = cos(xx[15]); |
| 4856 | xx[37] = sin(xx[15]); |
| 4857 | xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220]; |
| 4858 | xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219]; |
| 4859 | xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218]; |
| 4860 | xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220]; |
| 4861 | xx[84] = motionData[63]; |
| 4862 | xx[85] = motionData[64]; |
| 4863 | xx[86] = motionData[65]; |
| 4864 | xx[87] = motionData[66]; |
| 4865 | pm_math_quatCompose(xx + 38, xx + 84, xx + 88); |
| 4866 | xx[38] = xx[4] * (motionData[64] * motionData[66] - motionData[63] * |
| 4867 | motionData[65]); |
| 4868 | xx[39] = (motionData[63] * motionData[64] + motionData[65] * motionData[66]) * |
| 4869 | xx[4]; |
| 4870 | xx[40] = xx[5] - (motionData[64] * motionData[64] + motionData[65] * |
| 4871 | motionData[65]) * xx[4]; |
| 4872 | pm_math_cross3(xx + 38, xx + 16, xx + 84); |
| 4873 | pm_math_quatXform(xx + 88, xx + 84, xx + 15); |
| 4874 | xx[18] = xx[37] * motionData[68]; |
| 4875 | xx[38] = xx[37] * motionData[67]; |
| 4876 | xx[39] = 0.02540000000000185; |
| 4877 | xx[40] = xx[39] * xx[37]; |
| 4878 | xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[68] + xx[4] * |
| 4879 | xx[36] * xx[40]; |
| 4880 | xx[84] = motionData[218]; |
| 4881 | xx[85] = motionData[219]; |
| 4882 | xx[86] = motionData[220]; |
| 4883 | xx[48] = motionData[67] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4] |
| 4884 | * xx[40] * xx[37]) - xx[39]; |
| 4885 | xx[18] = xx[48] * motionData[220]; |
| 4886 | xx[36] = xx[41] * motionData[220]; |
| 4887 | xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219]; |
| 4888 | xx[38] = - xx[18]; |
| 4889 | xx[39] = xx[36]; |
| 4890 | xx[40] = xx[37]; |
| 4891 | pm_math_cross3(xx + 84, xx + 38, xx + 87); |
| 4892 | xx[90] = motionData[224]; |
| 4893 | xx[91] = motionData[225]; |
| 4894 | xx[92] = motionData[226]; |
| 4895 | xx[93] = motionData[227]; |
| 4896 | xx[38] = 0.3535533905932758; |
| 4897 | xx[39] = xx[2] * state[36]; |
| 4898 | xx[40] = cos(xx[39]); |
| 4899 | xx[49] = xx[38] * xx[40]; |
| 4900 | xx[63] = sin(xx[39]); |
| 4901 | xx[39] = xx[38] * xx[63]; |
| 4902 | xx[38] = xx[49] + xx[39]; |
| 4903 | xx[65] = 0.6123724356957934; |
| 4904 | xx[69] = xx[65] * xx[63]; |
| 4905 | xx[63] = xx[65] * xx[40]; |
| 4906 | xx[40] = xx[69] - xx[63]; |
| 4907 | xx[65] = xx[63] + xx[69]; |
| 4908 | xx[63] = - xx[65]; |
| 4909 | xx[69] = xx[39] - xx[49]; |
| 4910 | xx[110] = - xx[38]; |
| 4911 | xx[111] = xx[40]; |
| 4912 | xx[112] = xx[63]; |
| 4913 | xx[113] = xx[69]; |
| 4914 | pm_math_quatCompose(xx + 90, xx + 110, xx + 114); |
| 4915 | xx[39] = xx[6] * xx[117]; |
| 4916 | xx[49] = xx[6] * xx[115] - xx[8] * xx[116]; |
| 4917 | xx[84] = - xx[39]; |
| 4918 | xx[85] = xx[8] * xx[117]; |
| 4919 | xx[86] = xx[49]; |
| 4920 | pm_math_cross3(xx + 115, xx + 84, xx + 110); |
| 4921 | xx[73] = 3.80025733104361e-12; |
| 4922 | xx[84] = xx[40]; |
| 4923 | xx[85] = xx[63]; |
| 4924 | xx[86] = xx[69]; |
| 4925 | xx[63] = 3.881762117297072e-12; |
| 4926 | xx[74] = xx[63] * xx[69]; |
| 4927 | xx[94] = xx[73] * xx[69]; |
| 4928 | xx[69] = xx[63] * xx[40] + xx[65] * xx[73]; |
| 4929 | xx[118] = - xx[74]; |
| 4930 | xx[119] = xx[94]; |
| 4931 | xx[120] = xx[69]; |
| 4932 | pm_math_cross3(xx + 84, xx + 118, xx + 121); |
| 4933 | xx[84] = xx[73] + xx[4] * (xx[121] + xx[38] * xx[74]); |
| 4934 | xx[85] = xx[63] + (xx[122] - xx[38] * xx[94]) * xx[4]; |
| 4935 | xx[86] = (xx[123] - xx[38] * xx[69]) * xx[4]; |
| 4936 | pm_math_quatXform(xx + 90, xx + 84, xx + 118); |
| 4937 | xx[38] = 0.3162553791961485; |
| 4938 | xx[40] = xx[2] * state[75]; |
| 4939 | xx[63] = cos(xx[40]); |
| 4940 | xx[65] = 0.3162538200043588; |
| 4941 | xx[69] = sin(xx[40]); |
| 4942 | xx[40] = xx[38] * xx[63] - xx[65] * xx[69]; |
| 4943 | xx[73] = 0.6324445710612965; |
| 4944 | xx[74] = 0.6324396579890005; |
| 4945 | xx[84] = xx[73] * xx[63] + xx[74] * xx[69]; |
| 4946 | xx[85] = xx[73] * xx[69] - xx[74] * xx[63]; |
| 4947 | xx[73] = xx[65] * xx[63] + xx[38] * xx[69]; |
| 4948 | xx[38] = - xx[73]; |
| 4949 | xx[90] = xx[40]; |
| 4950 | xx[91] = xx[84]; |
| 4951 | xx[92] = xx[85]; |
| 4952 | xx[93] = xx[38]; |
| 4953 | xx[121] = motionData[350]; |
| 4954 | xx[122] = motionData[351]; |
| 4955 | xx[123] = motionData[352]; |
| 4956 | xx[124] = motionData[353]; |
| 4957 | pm_math_quatCompose(xx + 90, xx + 121, xx + 125); |
| 4958 | xx[90] = xx[4] * (motionData[350] * motionData[352] - motionData[351] * |
| 4959 | motionData[353]); |
| 4960 | xx[91] = - ((motionData[350] * motionData[351] + motionData[352] * motionData |
| 4961 | [353]) * xx[4]); |
| 4962 | xx[92] = (motionData[351] * motionData[351] + motionData[352] * motionData[352]) |
| 4963 | * xx[4] - xx[5]; |
| 4964 | xx[63] = 3.641924106626229e-8; |
| 4965 | xx[65] = 0.04574999999998041; |
| 4966 | xx[69] = 2.92603149291605e-7; |
| 4967 | xx[93] = xx[63]; |
| 4968 | xx[94] = xx[65]; |
| 4969 | xx[95] = xx[69]; |
| 4970 | pm_math_cross3(xx + 90, xx + 93, xx + 121); |
| 4971 | pm_math_quatXform(xx + 125, xx + 121, xx + 90); |
| 4972 | xx[121] = xx[84]; |
| 4973 | xx[122] = xx[85]; |
| 4974 | xx[123] = xx[38]; |
| 4975 | xx[38] = xx[73] * motionData[354]; |
| 4976 | xx[74] = xx[73] * motionData[355]; |
| 4977 | xx[86] = xx[84] * motionData[354] + xx[85] * motionData[355]; |
| 4978 | xx[124] = - xx[38]; |
| 4979 | xx[125] = - xx[74]; |
| 4980 | xx[126] = - xx[86]; |
| 4981 | pm_math_cross3(xx + 121, xx + 124, xx + 127); |
| 4982 | xx[102] = xx[19] * xx[84]; |
| 4983 | xx[103] = xx[19] * xx[73]; |
| 4984 | xx[113] = xx[2] * state[77]; |
| 4985 | xx[2] = cos(xx[113]); |
| 4986 | xx[115] = sin(xx[113]); |
| 4987 | xx[121] = xx[2] * motionData[148] - xx[115] * motionData[149]; |
| 4988 | xx[122] = - (xx[2] * motionData[147] + xx[115] * motionData[150]); |
| 4989 | xx[123] = xx[115] * motionData[147] - xx[2] * motionData[150]; |
| 4990 | xx[124] = xx[115] * motionData[148] + xx[2] * motionData[149]; |
| 4991 | xx[130] = motionData[161]; |
| 4992 | xx[131] = motionData[162]; |
| 4993 | xx[132] = motionData[163]; |
| 4994 | xx[133] = motionData[164]; |
| 4995 | pm_math_quatCompose(xx + 121, xx + 130, xx + 134); |
| 4996 | xx[121] = xx[4] * (motionData[162] * motionData[164] - motionData[161] * |
| 4997 | motionData[163]); |
| 4998 | xx[122] = (motionData[161] * motionData[162] + motionData[163] * motionData |
| 4999 | [164]) * xx[4]; |
| 5000 | xx[123] = xx[5] - (motionData[162] * motionData[162] + motionData[163] * |
| 5001 | motionData[163]) * xx[4]; |
| 5002 | pm_math_cross3(xx + 121, xx + 93, xx + 124); |
| 5003 | pm_math_quatXform(xx + 134, xx + 124, xx + 93); |
| 5004 | xx[5] = xx[115] * motionData[166] - xx[2] * motionData[165]; |
| 5005 | xx[113] = 5.157931604049537e-12; |
| 5006 | xx[116] = 9.862118968695376e-13; |
| 5007 | xx[121] = xx[113] * xx[2] + xx[116] * xx[115]; |
| 5008 | xx[122] = xx[4] * xx[115] * xx[5] - (motionData[166] - xx[4] * xx[121] * xx |
| 5009 | [115]) - xx[116]; |
| 5010 | xx[123] = motionData[148]; |
| 5011 | xx[124] = motionData[149]; |
| 5012 | xx[125] = motionData[150]; |
| 5013 | xx[115] = motionData[165] + xx[4] * xx[2] * xx[5] + xx[4] * xx[121] * xx[2] - |
| 5014 | xx[113]; |
| 5015 | xx[2] = xx[115] * motionData[150]; |
| 5016 | xx[5] = xx[122] * motionData[150]; |
| 5017 | xx[113] = xx[115] * motionData[148] - xx[122] * motionData[149]; |
| 5018 | xx[130] = - xx[2]; |
| 5019 | xx[131] = xx[5]; |
| 5020 | xx[132] = xx[113]; |
| 5021 | pm_math_cross3(xx + 123, xx + 130, xx + 133); |
| 5022 | xx[123] = motionData[329]; |
| 5023 | xx[124] = motionData[330]; |
| 5024 | xx[125] = motionData[331]; |
| 5025 | xx[126] = motionData[332]; |
| 5026 | xx[116] = xx[33] * state[82] - xx[34] * state[79]; |
| 5027 | xx[121] = xx[33] * state[81] + xx[34] * state[80]; |
| 5028 | xx[130] = - xx[121]; |
| 5029 | xx[131] = xx[34] * state[81] - xx[33] * state[80]; |
| 5030 | xx[132] = - xx[131]; |
| 5031 | xx[136] = xx[33] * state[79] + xx[34] * state[82]; |
| 5032 | xx[33] = - xx[136]; |
| 5033 | xx[137] = xx[116]; |
| 5034 | xx[138] = xx[130]; |
| 5035 | xx[139] = xx[132]; |
| 5036 | xx[140] = xx[33]; |
| 5037 | pm_math_quatCompose(xx + 123, xx + 137, xx + 141); |
| 5038 | xx[34] = - 2.329268144978725e-13; |
| 5039 | xx[145] = xx[34]; |
| 5040 | xx[146] = - xx[69]; |
| 5041 | xx[147] = 0.0457500000000094; |
| 5042 | pm_math_quatXform(xx + 141, xx + 145, xx + 148); |
| 5043 | pm_math_quatXform(xx + 137, xx + 75, xx + 145); |
| 5044 | pm_math_quatXform(xx + 123, xx + 145, xx + 75); |
| 5045 | xx[145] = xx[69]; |
| 5046 | xx[146] = xx[34]; |
| 5047 | xx[147] = 5.855191459023036e-14; |
| 5048 | pm_math_quatXform(xx + 141, xx + 145, xx + 151); |
| 5049 | pm_math_quatXform(xx + 137, xx + 78, xx + 145); |
| 5050 | pm_math_quatXform(xx + 123, xx + 145, xx + 78); |
| 5051 | xx[34] = xx[63] * xx[144]; |
| 5052 | xx[69] = xx[63] * xx[142] + xx[65] * xx[143]; |
| 5053 | xx[137] = - xx[34]; |
| 5054 | xx[138] = - (xx[65] * xx[144]); |
| 5055 | xx[139] = xx[69]; |
| 5056 | pm_math_cross3(xx + 142, xx + 137, xx + 145); |
| 5057 | xx[137] = xx[130]; |
| 5058 | xx[138] = xx[132]; |
| 5059 | xx[139] = xx[33]; |
| 5060 | xx[33] = xx[53] * xx[136]; |
| 5061 | xx[130] = xx[64] * xx[136]; |
| 5062 | xx[132] = xx[53] * xx[121] + xx[131] * xx[64]; |
| 5063 | xx[154] = xx[33]; |
| 5064 | xx[155] = xx[130]; |
| 5065 | xx[156] = - xx[132]; |
| 5066 | pm_math_cross3(xx + 137, xx + 154, xx + 157); |
| 5067 | xx[136] = xx[4] * (xx[157] + xx[33] * xx[116]) - xx[64]; |
| 5068 | xx[137] = xx[53] + (xx[130] * xx[116] + xx[158]) * xx[4]; |
| 5069 | xx[138] = (xx[159] - xx[132] * xx[116]) * xx[4]; |
| 5070 | pm_math_quatXform(xx + 123, xx + 136, xx + 130); |
| 5071 | J[6] = xx[12] + motionData[383] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] * |
| 5072 | (xx[11] * xx[20] - xx[3] * xx[21]); |
| 5073 | J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]); |
| 5074 | J[8] = xx[66] + xx[70]; |
| 5075 | J[9] = xx[54] + xx[57]; |
| 5076 | J[10] = xx[50] + xx[45]; |
| 5077 | J[11] = xx[81] + xx[96]; |
| 5078 | J[12] = xx[99] + xx[104]; |
| 5079 | J[13] = xx[107] + xx[60]; |
| 5080 | J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]); |
| 5081 | J[17] = xx[4] * (xx[110] - xx[114] * xx[39]) + xx[118] + xx[8]; |
| 5082 | J[35] = - (xx[90] + motionData[355] + (xx[127] - xx[40] * xx[38]) * xx[4] - |
| 5083 | xx[4] * (xx[85] * xx[102] + xx[40] * xx[103])); |
| 5084 | J[36] = - (xx[93] + xx[122] + xx[4] * (xx[133] - xx[2] * motionData[147])); |
| 5085 | J[37] = - (xx[148] + xx[75]); |
| 5086 | J[38] = - (xx[151] + xx[78]); |
| 5087 | J[39] = - (xx[4] * (xx[145] - xx[141] * xx[34]) + xx[130] - xx[65]); |
| 5088 | J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[382] - (xx[21] |
| 5089 | * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19]; |
| 5090 | J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4]; |
| 5091 | J[53] = xx[67] + xx[71]; |
| 5092 | J[54] = xx[55] + xx[58]; |
| 5093 | J[55] = xx[51] + xx[46]; |
| 5094 | J[56] = xx[82] + xx[97]; |
| 5095 | J[57] = xx[100] + xx[105]; |
| 5096 | J[58] = xx[108] + xx[61]; |
| 5097 | J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4]; |
| 5098 | J[62] = (xx[8] * xx[114] * xx[117] + xx[111]) * xx[4] + xx[119] + xx[6]; |
| 5099 | J[80] = - (xx[91] + (xx[128] - xx[40] * xx[74]) * xx[4] - (motionData[354] - |
| 5100 | (xx[103] * xx[73] + xx[102] * xx[84]) * xx[4]) - xx[19]); |
| 5101 | J[81] = - (xx[94] + xx[115] + (xx[5] * motionData[147] + xx[134]) * xx[4]); |
| 5102 | J[82] = - (xx[149] + xx[76]); |
| 5103 | J[83] = - (xx[152] + xx[79]); |
| 5104 | J[84] = - ((xx[146] - xx[65] * xx[141] * xx[144]) * xx[4] + xx[131] + xx[63]); |
| 5105 | J[96] = xx[14] + xx[4] * (xx[28] - xx[3] * xx[22]) + (xx[3] * xx[20] + xx[11] * |
| 5106 | xx[21]) * xx[4]; |
| 5107 | J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4]; |
| 5108 | J[98] = xx[68] + xx[72]; |
| 5109 | J[99] = xx[56] + xx[59]; |
| 5110 | J[100] = xx[52] + xx[47]; |
| 5111 | J[101] = xx[83] + xx[98]; |
| 5112 | J[102] = xx[101] + xx[106]; |
| 5113 | J[103] = xx[109] + xx[62]; |
| 5114 | J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4]; |
| 5115 | J[107] = (xx[114] * xx[49] + xx[112]) * xx[4] + xx[120]; |
| 5116 | J[125] = - (xx[92] + xx[4] * (xx[129] - xx[86] * xx[40]) + (xx[85] * xx[103] - |
| 5117 | xx[40] * xx[102]) * xx[4]); |
| 5118 | J[126] = - (xx[95] + (xx[113] * motionData[147] + xx[135]) * xx[4]); |
| 5119 | J[127] = - (xx[150] + xx[77]); |
| 5120 | J[128] = - (xx[153] + xx[80]); |
| 5121 | J[129] = - ((xx[141] * xx[69] + xx[147]) * xx[4] + xx[132]); |
| 5122 | return 3; |
| 5123 | } |
| 5124 | |
| 5125 | static size_t computeAssemblyJacobian_3(const double *rtdv, const double *state, |
| 5126 | const double *motionData, double *J) |
| 5127 | { |
| 5128 | double xx[160]; |
| 5129 | (void) rtdv; |
| 5130 | xx[0] = 0.0; |
| 5131 | xx[1] = 0.3895853754265615; |
| 5132 | xx[2] = 0.5; |
| 5133 | xx[3] = xx[2] * state[12]; |
| 5134 | xx[4] = cos(xx[3]); |
| 5135 | xx[5] = 0.389581900177037; |
| 5136 | xx[6] = sin(xx[3]); |
| 5137 | xx[3] = xx[1] * xx[4] - xx[5] * xx[6]; |
| 5138 | xx[7] = 0.5901074779979933; |
| 5139 | xx[8] = 0.5901036711621462; |
| 5140 | xx[9] = xx[7] * xx[4] + xx[8] * xx[6]; |
| 5141 | xx[10] = - xx[9]; |
| 5142 | xx[11] = xx[8] * xx[4] - xx[7] * xx[6]; |
| 5143 | xx[7] = xx[5] * xx[4] + xx[1] * xx[6]; |
| 5144 | xx[1] = - xx[7]; |
| 5145 | xx[12] = xx[3]; |
| 5146 | xx[13] = xx[10]; |
| 5147 | xx[14] = xx[11]; |
| 5148 | xx[15] = xx[1]; |
| 5149 | xx[16] = motionData[434]; |
| 5150 | xx[17] = motionData[435]; |
| 5151 | xx[18] = motionData[436]; |
| 5152 | xx[19] = motionData[437]; |
| 5153 | pm_math_quatCompose(xx + 12, xx + 16, xx + 20); |
| 5154 | xx[4] = 2.0; |
| 5155 | xx[5] = 1.0; |
| 5156 | xx[12] = xx[4] * (motionData[434] * motionData[436] - motionData[435] * |
| 5157 | motionData[437]); |
| 5158 | xx[13] = - ((motionData[434] * motionData[435] + motionData[436] * motionData |
| 5159 | [437]) * xx[4]); |
| 5160 | xx[14] = (motionData[435] * motionData[435] + motionData[436] * motionData[436]) |
| 5161 | * xx[4] - xx[5]; |
| 5162 | xx[6] = 7.599121945184391e-12; |
| 5163 | xx[8] = 5.036130209737022e-12; |
| 5164 | xx[15] = 5.192027881355888e-12; |
| 5165 | xx[16] = - xx[6]; |
| 5166 | xx[17] = xx[8]; |
| 5167 | xx[18] = - xx[15]; |
| 5168 | pm_math_cross3(xx + 12, xx + 16, xx + 24); |
| 5169 | pm_math_quatXform(xx + 20, xx + 24, xx + 12); |
| 5170 | xx[19] = xx[10]; |
| 5171 | xx[20] = xx[11]; |
| 5172 | xx[21] = xx[1]; |
| 5173 | xx[1] = xx[7] * motionData[438]; |
| 5174 | xx[10] = xx[7] * motionData[439]; |
| 5175 | xx[22] = xx[11] * motionData[439] - xx[9] * motionData[438]; |
| 5176 | xx[23] = - xx[1]; |
| 5177 | xx[24] = - xx[10]; |
| 5178 | xx[25] = - xx[22]; |
| 5179 | pm_math_cross3(xx + 19, xx + 23, xx + 26); |
| 5180 | xx[19] = 0.02520954632904373; |
| 5181 | xx[20] = xx[19] * xx[9]; |
| 5182 | xx[21] = xx[19] * xx[7]; |
| 5183 | xx[23] = xx[2] * state[14]; |
| 5184 | xx[24] = cos(xx[23]); |
| 5185 | xx[25] = sin(xx[23]); |
| 5186 | xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16]; |
| 5187 | xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]); |
| 5188 | xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17]; |
| 5189 | xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16]; |
| 5190 | xx[33] = motionData[427]; |
| 5191 | xx[34] = motionData[428]; |
| 5192 | xx[35] = motionData[429]; |
| 5193 | xx[36] = motionData[430]; |
| 5194 | pm_math_quatCompose(xx + 29, xx + 33, xx + 37); |
| 5195 | xx[29] = xx[4] * (motionData[428] * motionData[430] - motionData[427] * |
| 5196 | motionData[429]); |
| 5197 | xx[30] = (motionData[427] * motionData[428] + motionData[429] * motionData[430]) |
| 5198 | * xx[4]; |
| 5199 | xx[31] = xx[5] - (motionData[428] * motionData[428] + motionData[429] * |
| 5200 | motionData[429]) * xx[4]; |
| 5201 | pm_math_cross3(xx + 29, xx + 16, xx + 32); |
| 5202 | pm_math_quatXform(xx + 37, xx + 32, xx + 29); |
| 5203 | xx[23] = xx[25] * motionData[432] - xx[24] * motionData[431]; |
| 5204 | xx[32] = 7.748428954013064e-12; |
| 5205 | xx[33] = 5.376764528053357e-12; |
| 5206 | xx[34] = xx[32] * xx[24] - xx[33] * xx[25]; |
| 5207 | xx[35] = xx[4] * xx[25] * xx[23] - (motionData[432] + xx[4] * xx[34] * xx[25]) |
| 5208 | - xx[33]; |
| 5209 | xx[36] = motionData[15]; |
| 5210 | xx[37] = motionData[16]; |
| 5211 | xx[38] = motionData[17]; |
| 5212 | xx[25] = motionData[431] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] + |
| 5213 | xx[32]; |
| 5214 | xx[23] = xx[25] * motionData[17]; |
| 5215 | xx[24] = xx[35] * motionData[17]; |
| 5216 | xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16]; |
| 5217 | xx[39] = - xx[23]; |
| 5218 | xx[40] = xx[24]; |
| 5219 | xx[41] = xx[32]; |
| 5220 | pm_math_cross3(xx + 36, xx + 39, xx + 42); |
| 5221 | xx[36] = motionData[203]; |
| 5222 | xx[37] = motionData[204]; |
| 5223 | xx[38] = motionData[205]; |
| 5224 | xx[39] = motionData[206]; |
| 5225 | xx[33] = 3.980251324392935e-7; |
| 5226 | xx[34] = 0.999999999999921; |
| 5227 | xx[40] = xx[33] * state[19] - xx[34] * state[16]; |
| 5228 | xx[41] = xx[33] * state[18] + xx[34] * state[17]; |
| 5229 | xx[45] = - xx[41]; |
| 5230 | xx[46] = xx[34] * state[18] - xx[33] * state[17]; |
| 5231 | xx[47] = - xx[46]; |
| 5232 | xx[48] = xx[33] * state[16] + xx[34] * state[19]; |
| 5233 | xx[49] = - xx[48]; |
| 5234 | xx[50] = xx[40]; |
| 5235 | xx[51] = xx[45]; |
| 5236 | xx[52] = xx[47]; |
| 5237 | xx[53] = xx[49]; |
| 5238 | pm_math_quatCompose(xx + 36, xx + 50, xx + 54); |
| 5239 | xx[58] = motionData[420]; |
| 5240 | xx[59] = motionData[421]; |
| 5241 | xx[60] = motionData[422]; |
| 5242 | xx[61] = motionData[423]; |
| 5243 | pm_math_quatCompose(xx + 54, xx + 58, xx + 62); |
| 5244 | xx[54] = motionData[421]; |
| 5245 | xx[55] = motionData[422]; |
| 5246 | xx[56] = motionData[423]; |
| 5247 | xx[57] = 7.960502648785241e-7; |
| 5248 | xx[58] = xx[57] * motionData[423]; |
| 5249 | xx[59] = xx[57] * motionData[421] + motionData[422]; |
| 5250 | xx[66] = xx[58]; |
| 5251 | xx[67] = motionData[423]; |
| 5252 | xx[68] = - xx[59]; |
| 5253 | pm_math_cross3(xx + 54, xx + 66, xx + 69); |
| 5254 | xx[60] = motionData[420] * motionData[423]; |
| 5255 | xx[66] = xx[5] + (xx[69] - xx[58] * motionData[420]) * xx[4]; |
| 5256 | xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57]; |
| 5257 | xx[68] = xx[4] * (xx[71] + xx[59] * motionData[420]); |
| 5258 | pm_math_cross3(xx + 66, xx + 16, xx + 69); |
| 5259 | pm_math_quatXform(xx + 62, xx + 69, xx + 66); |
| 5260 | xx[59] = - (xx[57] * motionData[426]); |
| 5261 | xx[69] = xx[59]; |
| 5262 | xx[70] = - motionData[426]; |
| 5263 | xx[71] = motionData[425] + xx[57] * motionData[424]; |
| 5264 | pm_math_quatXform(xx + 50, xx + 69, xx + 72); |
| 5265 | xx[61] = 2.329280111075767e-13; |
| 5266 | xx[69] = 2.926046524751139e-7; |
| 5267 | xx[75] = xx[61]; |
| 5268 | xx[76] = xx[69]; |
| 5269 | xx[77] = 0.04575000000718987; |
| 5270 | pm_math_quatXform(xx + 50, xx + 75, xx + 78); |
| 5271 | xx[81] = xx[72] + xx[78]; |
| 5272 | xx[82] = xx[73] + xx[79]; |
| 5273 | xx[83] = xx[74] + xx[80]; |
| 5274 | pm_math_quatXform(xx + 36, xx + 81, xx + 70); |
| 5275 | xx[73] = motionData[421] - xx[57] * motionData[422]; |
| 5276 | xx[78] = - motionData[423]; |
| 5277 | xx[79] = xx[58]; |
| 5278 | xx[80] = xx[73]; |
| 5279 | pm_math_cross3(xx + 54, xx + 78, xx + 81); |
| 5280 | xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4]; |
| 5281 | xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]); |
| 5282 | xx[56] = xx[4] * (xx[83] - xx[73] * motionData[420]); |
| 5283 | pm_math_cross3(xx + 54, xx + 16, xx + 78); |
| 5284 | pm_math_quatXform(xx + 62, xx + 78, xx + 54); |
| 5285 | xx[78] = motionData[426]; |
| 5286 | xx[79] = xx[59]; |
| 5287 | xx[80] = xx[57] * motionData[425] - motionData[424]; |
| 5288 | pm_math_quatXform(xx + 50, xx + 78, xx + 57); |
| 5289 | xx[78] = - xx[69]; |
| 5290 | xx[79] = xx[61]; |
| 5291 | xx[80] = 7.670997177269469e-12; |
| 5292 | pm_math_quatXform(xx + 50, xx + 78, xx + 81); |
| 5293 | xx[50] = xx[57] + xx[81]; |
| 5294 | xx[51] = xx[58] + xx[82]; |
| 5295 | xx[52] = xx[59] + xx[83]; |
| 5296 | pm_math_quatXform(xx + 36, xx + 50, xx + 57); |
| 5297 | xx[50] = xx[4] * (motionData[421] * motionData[423] - motionData[420] * |
| 5298 | motionData[422]); |
| 5299 | xx[51] = (motionData[420] * motionData[421] + motionData[422] * motionData[423]) |
| 5300 | * xx[4]; |
| 5301 | xx[52] = xx[5] - (motionData[421] * motionData[421] + motionData[422] * |
| 5302 | motionData[422]) * xx[4]; |
| 5303 | pm_math_cross3(xx + 50, xx + 16, xx + 81); |
| 5304 | pm_math_quatXform(xx + 62, xx + 81, xx + 50); |
| 5305 | xx[60] = xx[45]; |
| 5306 | xx[61] = xx[47]; |
| 5307 | xx[62] = xx[49]; |
| 5308 | xx[45] = xx[48] * motionData[424]; |
| 5309 | xx[47] = xx[48] * motionData[425]; |
| 5310 | xx[49] = xx[41] * motionData[424] + xx[46] * motionData[425]; |
| 5311 | xx[63] = xx[45]; |
| 5312 | xx[64] = xx[47]; |
| 5313 | xx[65] = - xx[49]; |
| 5314 | pm_math_cross3(xx + 60, xx + 63, xx + 81); |
| 5315 | xx[53] = 3.641162862673871e-8; |
| 5316 | xx[63] = xx[53] * xx[48]; |
| 5317 | xx[64] = 0.04575000000717538; |
| 5318 | xx[65] = xx[64] * xx[48]; |
| 5319 | xx[48] = xx[53] * xx[41] + xx[46] * xx[64]; |
| 5320 | xx[84] = xx[63]; |
| 5321 | xx[85] = xx[65]; |
| 5322 | xx[86] = - xx[48]; |
| 5323 | pm_math_cross3(xx + 60, xx + 84, xx + 87); |
| 5324 | xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40]) |
| 5325 | - motionData[425] - xx[64]; |
| 5326 | xx[61] = motionData[424] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx |
| 5327 | [40] + xx[88]) * xx[4] + xx[53]; |
| 5328 | xx[62] = (xx[83] - xx[40] * xx[49]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx |
| 5329 | [4]; |
| 5330 | pm_math_quatXform(xx + 36, xx + 60, xx + 45); |
| 5331 | xx[36] = motionData[210]; |
| 5332 | xx[37] = motionData[211]; |
| 5333 | xx[38] = motionData[212]; |
| 5334 | xx[39] = motionData[213]; |
| 5335 | xx[40] = 3.980251340548381e-7; |
| 5336 | xx[41] = xx[34] * state[26] - xx[40] * state[23]; |
| 5337 | xx[48] = xx[34] * state[25] - xx[40] * state[24]; |
| 5338 | xx[49] = xx[40] * state[25] + xx[34] * state[24]; |
| 5339 | xx[60] = - xx[49]; |
| 5340 | xx[61] = xx[40] * state[26] + xx[34] * state[23]; |
| 5341 | xx[40] = - xx[61]; |
| 5342 | xx[81] = xx[41]; |
| 5343 | xx[82] = xx[48]; |
| 5344 | xx[83] = xx[60]; |
| 5345 | xx[84] = xx[40]; |
| 5346 | pm_math_quatCompose(xx + 36, xx + 81, xx + 85); |
| 5347 | xx[81] = motionData[413]; |
| 5348 | xx[82] = motionData[414]; |
| 5349 | xx[83] = motionData[415]; |
| 5350 | xx[84] = motionData[416]; |
| 5351 | pm_math_quatCompose(xx + 85, xx + 81, xx + 89); |
| 5352 | xx[62] = motionData[415] * motionData[415]; |
| 5353 | xx[63] = motionData[416] * motionData[416]; |
| 5354 | xx[65] = motionData[414] * motionData[415]; |
| 5355 | xx[69] = motionData[413] * motionData[416]; |
| 5356 | xx[73] = motionData[413] * motionData[415]; |
| 5357 | xx[74] = motionData[414] * motionData[416]; |
| 5358 | xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4]; |
| 5359 | xx[82] = xx[4] * (xx[65] - xx[69]); |
| 5360 | xx[83] = (xx[73] + xx[74]) * xx[4]; |
| 5361 | pm_math_cross3(xx + 81, xx + 16, xx + 84); |
| 5362 | pm_math_quatXform(xx + 89, xx + 84, xx + 81); |
| 5363 | xx[84] = xx[48]; |
| 5364 | xx[85] = xx[60]; |
| 5365 | xx[86] = xx[40]; |
| 5366 | xx[40] = xx[49] * motionData[418]; |
| 5367 | xx[60] = xx[61] * motionData[419]; |
| 5368 | xx[87] = xx[40] + xx[60]; |
| 5369 | xx[88] = xx[48] * motionData[418]; |
| 5370 | xx[93] = xx[48] * motionData[419]; |
| 5371 | xx[94] = - xx[87]; |
| 5372 | xx[95] = - xx[88]; |
| 5373 | xx[96] = - xx[93]; |
| 5374 | pm_math_cross3(xx + 84, xx + 94, xx + 97); |
| 5375 | xx[94] = xx[49] * xx[8]; |
| 5376 | xx[95] = xx[61] * xx[15]; |
| 5377 | xx[96] = xx[94] - xx[95]; |
| 5378 | xx[100] = xx[8] * xx[48]; |
| 5379 | xx[101] = xx[15] * xx[48]; |
| 5380 | xx[102] = xx[96]; |
| 5381 | xx[103] = xx[100]; |
| 5382 | xx[104] = - xx[101]; |
| 5383 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 5384 | xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) * |
| 5385 | xx[4]; |
| 5386 | xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] * |
| 5387 | xx[41]) - motionData[419] - xx[15]; |
| 5388 | xx[104] = motionData[418] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] - |
| 5389 | xx[101] * xx[41]) * xx[4] - xx[8]; |
| 5390 | pm_math_quatXform(xx + 36, xx + 102, xx + 96); |
| 5391 | xx[87] = motionData[414] * motionData[414]; |
| 5392 | xx[88] = motionData[415] * motionData[416]; |
| 5393 | xx[93] = motionData[413] * motionData[414]; |
| 5394 | xx[99] = (xx[69] + xx[65]) * xx[4]; |
| 5395 | xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4]; |
| 5396 | xx[101] = xx[4] * (xx[88] - xx[93]); |
| 5397 | pm_math_cross3(xx + 99, xx + 16, xx + 102); |
| 5398 | pm_math_quatXform(xx + 89, xx + 102, xx + 99); |
| 5399 | xx[63] = xx[49] * motionData[417]; |
| 5400 | xx[65] = xx[48] * motionData[417]; |
| 5401 | xx[69] = xx[65] - xx[60]; |
| 5402 | xx[60] = xx[49] * motionData[419]; |
| 5403 | xx[102] = xx[63]; |
| 5404 | xx[103] = xx[69]; |
| 5405 | xx[104] = xx[60]; |
| 5406 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 5407 | xx[102] = xx[49] * xx[6]; |
| 5408 | xx[103] = xx[6] * xx[48]; |
| 5409 | xx[48] = xx[95] - xx[103]; |
| 5410 | xx[95] = xx[49] * xx[15]; |
| 5411 | xx[108] = xx[102]; |
| 5412 | xx[109] = - xx[48]; |
| 5413 | xx[110] = xx[95]; |
| 5414 | pm_math_cross3(xx + 84, xx + 108, xx + 111); |
| 5415 | xx[108] = motionData[419] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx |
| 5416 | [111] + xx[102] * xx[41]) + xx[15]; |
| 5417 | xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] * |
| 5418 | xx[41]); |
| 5419 | xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) * |
| 5420 | xx[4] - motionData[417] - xx[6]; |
| 5421 | pm_math_quatXform(xx + 36, xx + 108, xx + 104); |
| 5422 | xx[107] = xx[4] * (xx[74] - xx[73]); |
| 5423 | xx[108] = (xx[93] + xx[88]) * xx[4]; |
| 5424 | xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4]; |
| 5425 | pm_math_cross3(xx + 107, xx + 16, xx + 110); |
| 5426 | pm_math_quatXform(xx + 89, xx + 110, xx + 107); |
| 5427 | xx[15] = xx[61] * motionData[417]; |
| 5428 | xx[48] = xx[61] * motionData[418]; |
| 5429 | xx[49] = xx[65] - xx[40]; |
| 5430 | xx[87] = xx[15]; |
| 5431 | xx[88] = xx[48]; |
| 5432 | xx[89] = xx[49]; |
| 5433 | pm_math_cross3(xx + 84, xx + 87, xx + 90); |
| 5434 | xx[40] = xx[61] * xx[6]; |
| 5435 | xx[60] = xx[61] * xx[8]; |
| 5436 | xx[61] = xx[103] + xx[94]; |
| 5437 | xx[87] = xx[40]; |
| 5438 | xx[88] = - xx[60]; |
| 5439 | xx[89] = xx[61]; |
| 5440 | pm_math_cross3(xx + 84, xx + 87, xx + 93); |
| 5441 | xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx |
| 5442 | [4] - motionData[418] + xx[8]; |
| 5443 | xx[85] = motionData[417] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94] |
| 5444 | - xx[60] * xx[41]) + xx[6]; |
| 5445 | xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx |
| 5446 | [4]; |
| 5447 | pm_math_quatXform(xx + 36, xx + 84, xx + 60); |
| 5448 | xx[15] = xx[2] * state[30]; |
| 5449 | xx[36] = cos(xx[15]); |
| 5450 | xx[37] = sin(xx[15]); |
| 5451 | xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220]; |
| 5452 | xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219]; |
| 5453 | xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218]; |
| 5454 | xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220]; |
| 5455 | xx[84] = motionData[70]; |
| 5456 | xx[85] = motionData[71]; |
| 5457 | xx[86] = motionData[72]; |
| 5458 | xx[87] = motionData[73]; |
| 5459 | pm_math_quatCompose(xx + 38, xx + 84, xx + 88); |
| 5460 | xx[38] = xx[4] * (motionData[71] * motionData[73] - motionData[70] * |
| 5461 | motionData[72]); |
| 5462 | xx[39] = (motionData[70] * motionData[71] + motionData[72] * motionData[73]) * |
| 5463 | xx[4]; |
| 5464 | xx[40] = xx[5] - (motionData[71] * motionData[71] + motionData[72] * |
| 5465 | motionData[72]) * xx[4]; |
| 5466 | pm_math_cross3(xx + 38, xx + 16, xx + 84); |
| 5467 | pm_math_quatXform(xx + 88, xx + 84, xx + 15); |
| 5468 | xx[18] = xx[37] * motionData[75]; |
| 5469 | xx[38] = xx[37] * motionData[74]; |
| 5470 | xx[39] = 0.02540000000000185; |
| 5471 | xx[40] = xx[39] * xx[37]; |
| 5472 | xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[75] + xx[4] * |
| 5473 | xx[36] * xx[40]; |
| 5474 | xx[84] = motionData[218]; |
| 5475 | xx[85] = motionData[219]; |
| 5476 | xx[86] = motionData[220]; |
| 5477 | xx[48] = motionData[74] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4] |
| 5478 | * xx[40] * xx[37]) - xx[39]; |
| 5479 | xx[18] = xx[48] * motionData[220]; |
| 5480 | xx[36] = xx[41] * motionData[220]; |
| 5481 | xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219]; |
| 5482 | xx[38] = - xx[18]; |
| 5483 | xx[39] = xx[36]; |
| 5484 | xx[40] = xx[37]; |
| 5485 | pm_math_cross3(xx + 84, xx + 38, xx + 87); |
| 5486 | xx[90] = motionData[224]; |
| 5487 | xx[91] = motionData[225]; |
| 5488 | xx[92] = motionData[226]; |
| 5489 | xx[93] = motionData[227]; |
| 5490 | xx[38] = 0.3535533905932758; |
| 5491 | xx[39] = xx[2] * state[38]; |
| 5492 | xx[40] = cos(xx[39]); |
| 5493 | xx[49] = xx[38] * xx[40]; |
| 5494 | xx[63] = sin(xx[39]); |
| 5495 | xx[39] = xx[38] * xx[63]; |
| 5496 | xx[38] = xx[49] + xx[39]; |
| 5497 | xx[65] = 0.6123724356957934; |
| 5498 | xx[69] = xx[65] * xx[40]; |
| 5499 | xx[40] = xx[65] * xx[63]; |
| 5500 | xx[63] = xx[69] - xx[40]; |
| 5501 | xx[65] = xx[69] + xx[40]; |
| 5502 | xx[40] = xx[49] - xx[39]; |
| 5503 | xx[110] = xx[38]; |
| 5504 | xx[111] = xx[63]; |
| 5505 | xx[112] = xx[65]; |
| 5506 | xx[113] = xx[40]; |
| 5507 | pm_math_quatCompose(xx + 90, xx + 110, xx + 114); |
| 5508 | xx[39] = xx[6] * xx[117]; |
| 5509 | xx[49] = xx[6] * xx[115] - xx[8] * xx[116]; |
| 5510 | xx[84] = - xx[39]; |
| 5511 | xx[85] = xx[8] * xx[117]; |
| 5512 | xx[86] = xx[49]; |
| 5513 | pm_math_cross3(xx + 115, xx + 84, xx + 110); |
| 5514 | xx[69] = 6.30935626036444e-12; |
| 5515 | xx[84] = xx[63]; |
| 5516 | xx[85] = xx[65]; |
| 5517 | xx[86] = xx[40]; |
| 5518 | xx[73] = 5.998698970888227e-12; |
| 5519 | xx[74] = xx[73] * xx[40]; |
| 5520 | xx[94] = xx[69] * xx[40]; |
| 5521 | xx[40] = xx[73] * xx[63] + xx[65] * xx[69]; |
| 5522 | xx[118] = xx[74]; |
| 5523 | xx[119] = xx[94]; |
| 5524 | xx[120] = - xx[40]; |
| 5525 | pm_math_cross3(xx + 84, xx + 118, xx + 121); |
| 5526 | xx[84] = xx[69] + xx[4] * (xx[121] + xx[38] * xx[74]); |
| 5527 | xx[85] = (xx[38] * xx[94] + xx[122]) * xx[4] - xx[73]; |
| 5528 | xx[86] = (xx[123] - xx[38] * xx[40]) * xx[4]; |
| 5529 | pm_math_quatXform(xx + 90, xx + 84, xx + 118); |
| 5530 | xx[38] = 0.3162538200043575; |
| 5531 | xx[40] = xx[2] * state[86]; |
| 5532 | xx[63] = sin(xx[40]); |
| 5533 | xx[65] = 0.3162553791961478; |
| 5534 | xx[69] = cos(xx[40]); |
| 5535 | xx[40] = xx[38] * xx[63] - xx[65] * xx[69]; |
| 5536 | xx[73] = 0.6324445710612973; |
| 5537 | xx[74] = 0.6324396579890008; |
| 5538 | xx[84] = xx[73] * xx[69] + xx[74] * xx[63]; |
| 5539 | xx[85] = - xx[84]; |
| 5540 | xx[86] = xx[74] * xx[69] - xx[73] * xx[63]; |
| 5541 | xx[73] = xx[38] * xx[69] + xx[65] * xx[63]; |
| 5542 | xx[90] = xx[40]; |
| 5543 | xx[91] = xx[85]; |
| 5544 | xx[92] = xx[86]; |
| 5545 | xx[93] = xx[73]; |
| 5546 | xx[121] = motionData[406]; |
| 5547 | xx[122] = motionData[407]; |
| 5548 | xx[123] = motionData[408]; |
| 5549 | xx[124] = motionData[409]; |
| 5550 | pm_math_quatCompose(xx + 90, xx + 121, xx + 125); |
| 5551 | xx[90] = xx[4] * (motionData[406] * motionData[408] - motionData[407] * |
| 5552 | motionData[409]); |
| 5553 | xx[91] = - ((motionData[406] * motionData[407] + motionData[408] * motionData |
| 5554 | [409]) * xx[4]); |
| 5555 | xx[92] = (motionData[407] * motionData[407] + motionData[408] * motionData[408]) |
| 5556 | * xx[4] - xx[5]; |
| 5557 | xx[38] = 3.641924106626229e-8; |
| 5558 | xx[63] = 0.04574999999998041; |
| 5559 | xx[65] = 2.92603149291605e-7; |
| 5560 | xx[93] = xx[38]; |
| 5561 | xx[94] = xx[63]; |
| 5562 | xx[95] = xx[65]; |
| 5563 | pm_math_cross3(xx + 90, xx + 93, xx + 121); |
| 5564 | pm_math_quatXform(xx + 125, xx + 121, xx + 90); |
| 5565 | xx[69] = xx[73] * motionData[410]; |
| 5566 | xx[121] = xx[85]; |
| 5567 | xx[122] = xx[86]; |
| 5568 | xx[123] = xx[73]; |
| 5569 | xx[74] = xx[73] * motionData[411]; |
| 5570 | xx[85] = xx[86] * motionData[411] - xx[84] * motionData[410]; |
| 5571 | xx[124] = xx[69]; |
| 5572 | xx[125] = xx[74]; |
| 5573 | xx[126] = - xx[85]; |
| 5574 | pm_math_cross3(xx + 121, xx + 124, xx + 127); |
| 5575 | xx[102] = xx[19] * xx[84]; |
| 5576 | xx[103] = xx[19] * xx[73]; |
| 5577 | xx[113] = xx[2] * state[88]; |
| 5578 | xx[2] = cos(xx[113]); |
| 5579 | xx[115] = sin(xx[113]); |
| 5580 | xx[121] = xx[2] * motionData[169] - xx[115] * motionData[170]; |
| 5581 | xx[122] = - (xx[2] * motionData[168] + xx[115] * motionData[171]); |
| 5582 | xx[123] = xx[115] * motionData[168] - xx[2] * motionData[171]; |
| 5583 | xx[124] = xx[115] * motionData[169] + xx[2] * motionData[170]; |
| 5584 | xx[130] = motionData[182]; |
| 5585 | xx[131] = motionData[183]; |
| 5586 | xx[132] = motionData[184]; |
| 5587 | xx[133] = motionData[185]; |
| 5588 | pm_math_quatCompose(xx + 121, xx + 130, xx + 134); |
| 5589 | xx[121] = xx[4] * (motionData[183] * motionData[185] - motionData[182] * |
| 5590 | motionData[184]); |
| 5591 | xx[122] = (motionData[182] * motionData[183] + motionData[184] * motionData |
| 5592 | [185]) * xx[4]; |
| 5593 | xx[123] = xx[5] - (motionData[183] * motionData[183] + motionData[184] * |
| 5594 | motionData[184]) * xx[4]; |
| 5595 | pm_math_cross3(xx + 121, xx + 93, xx + 124); |
| 5596 | pm_math_quatXform(xx + 134, xx + 124, xx + 93); |
| 5597 | xx[5] = xx[115] * motionData[187] - xx[2] * motionData[186]; |
| 5598 | xx[113] = 1.600627075326599e-13; |
| 5599 | xx[116] = 8.497959654019115e-12; |
| 5600 | xx[121] = xx[113] * xx[2] + xx[116] * xx[115]; |
| 5601 | xx[122] = xx[4] * xx[115] * xx[5] - (motionData[187] - xx[4] * xx[121] * xx |
| 5602 | [115]) - xx[116]; |
| 5603 | xx[123] = motionData[169]; |
| 5604 | xx[124] = motionData[170]; |
| 5605 | xx[125] = motionData[171]; |
| 5606 | xx[115] = motionData[186] + xx[4] * xx[2] * xx[5] + xx[4] * xx[121] * xx[2] - |
| 5607 | xx[113]; |
| 5608 | xx[2] = xx[115] * motionData[171]; |
| 5609 | xx[5] = xx[122] * motionData[171]; |
| 5610 | xx[113] = xx[115] * motionData[169] - xx[122] * motionData[170]; |
| 5611 | xx[130] = - xx[2]; |
| 5612 | xx[131] = xx[5]; |
| 5613 | xx[132] = xx[113]; |
| 5614 | pm_math_cross3(xx + 123, xx + 130, xx + 133); |
| 5615 | xx[123] = motionData[385]; |
| 5616 | xx[124] = motionData[386]; |
| 5617 | xx[125] = motionData[387]; |
| 5618 | xx[126] = motionData[388]; |
| 5619 | xx[116] = xx[33] * state[93] - xx[34] * state[90]; |
| 5620 | xx[121] = xx[33] * state[92] + xx[34] * state[91]; |
| 5621 | xx[130] = - xx[121]; |
| 5622 | xx[131] = xx[34] * state[92] - xx[33] * state[91]; |
| 5623 | xx[132] = - xx[131]; |
| 5624 | xx[136] = xx[33] * state[90] + xx[34] * state[93]; |
| 5625 | xx[33] = - xx[136]; |
| 5626 | xx[137] = xx[116]; |
| 5627 | xx[138] = xx[130]; |
| 5628 | xx[139] = xx[132]; |
| 5629 | xx[140] = xx[33]; |
| 5630 | pm_math_quatCompose(xx + 123, xx + 137, xx + 141); |
| 5631 | xx[34] = - 2.329268144978725e-13; |
| 5632 | xx[145] = xx[34]; |
| 5633 | xx[146] = - xx[65]; |
| 5634 | xx[147] = 0.0457500000000094; |
| 5635 | pm_math_quatXform(xx + 141, xx + 145, xx + 148); |
| 5636 | pm_math_quatXform(xx + 137, xx + 75, xx + 145); |
| 5637 | pm_math_quatXform(xx + 123, xx + 145, xx + 75); |
| 5638 | xx[145] = xx[65]; |
| 5639 | xx[146] = xx[34]; |
| 5640 | xx[147] = 5.855191459023036e-14; |
| 5641 | pm_math_quatXform(xx + 141, xx + 145, xx + 151); |
| 5642 | pm_math_quatXform(xx + 137, xx + 78, xx + 145); |
| 5643 | pm_math_quatXform(xx + 123, xx + 145, xx + 78); |
| 5644 | xx[34] = xx[38] * xx[144]; |
| 5645 | xx[65] = xx[38] * xx[142] + xx[63] * xx[143]; |
| 5646 | xx[137] = - xx[34]; |
| 5647 | xx[138] = - (xx[63] * xx[144]); |
| 5648 | xx[139] = xx[65]; |
| 5649 | pm_math_cross3(xx + 142, xx + 137, xx + 145); |
| 5650 | xx[137] = xx[130]; |
| 5651 | xx[138] = xx[132]; |
| 5652 | xx[139] = xx[33]; |
| 5653 | xx[33] = xx[53] * xx[136]; |
| 5654 | xx[130] = xx[64] * xx[136]; |
| 5655 | xx[132] = xx[53] * xx[121] + xx[131] * xx[64]; |
| 5656 | xx[154] = xx[33]; |
| 5657 | xx[155] = xx[130]; |
| 5658 | xx[156] = - xx[132]; |
| 5659 | pm_math_cross3(xx + 137, xx + 154, xx + 157); |
| 5660 | xx[136] = xx[4] * (xx[157] + xx[33] * xx[116]) - xx[64]; |
| 5661 | xx[137] = xx[53] + (xx[130] * xx[116] + xx[158]) * xx[4]; |
| 5662 | xx[138] = (xx[159] - xx[132] * xx[116]) * xx[4]; |
| 5663 | pm_math_quatXform(xx + 123, xx + 136, xx + 130); |
| 5664 | J[6] = xx[12] + motionData[439] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] * |
| 5665 | (xx[11] * xx[20] - xx[3] * xx[21]); |
| 5666 | J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]); |
| 5667 | J[8] = xx[66] + xx[70]; |
| 5668 | J[9] = xx[54] + xx[57]; |
| 5669 | J[10] = xx[50] + xx[45]; |
| 5670 | J[11] = xx[81] + xx[96]; |
| 5671 | J[12] = xx[99] + xx[104]; |
| 5672 | J[13] = xx[107] + xx[60]; |
| 5673 | J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]); |
| 5674 | J[18] = xx[4] * (xx[110] - xx[114] * xx[39]) + xx[118] + xx[8]; |
| 5675 | J[40] = - (xx[90] + motionData[411] + (xx[40] * xx[69] + xx[127]) * xx[4] + |
| 5676 | xx[4] * (xx[86] * xx[102] + xx[40] * xx[103])); |
| 5677 | J[41] = - (xx[93] + xx[122] + xx[4] * (xx[133] - xx[2] * motionData[168])); |
| 5678 | J[42] = - (xx[148] + xx[75]); |
| 5679 | J[43] = - (xx[151] + xx[78]); |
| 5680 | J[44] = - (xx[4] * (xx[145] - xx[141] * xx[34]) + xx[130] - xx[63]); |
| 5681 | J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[438] - (xx[21] |
| 5682 | * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19]; |
| 5683 | J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4]; |
| 5684 | J[53] = xx[67] + xx[71]; |
| 5685 | J[54] = xx[55] + xx[58]; |
| 5686 | J[55] = xx[51] + xx[46]; |
| 5687 | J[56] = xx[82] + xx[97]; |
| 5688 | J[57] = xx[100] + xx[105]; |
| 5689 | J[58] = xx[108] + xx[61]; |
| 5690 | J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4]; |
| 5691 | J[63] = (xx[8] * xx[114] * xx[117] + xx[111]) * xx[4] + xx[119] + xx[6]; |
| 5692 | J[85] = - (xx[91] + (xx[40] * xx[74] + xx[128]) * xx[4] - (motionData[410] - |
| 5693 | (xx[103] * xx[73] + xx[102] * xx[84]) * xx[4]) - xx[19]); |
| 5694 | J[86] = - (xx[94] + xx[115] + (xx[5] * motionData[168] + xx[134]) * xx[4]); |
| 5695 | J[87] = - (xx[149] + xx[76]); |
| 5696 | J[88] = - (xx[152] + xx[79]); |
| 5697 | J[89] = - ((xx[146] - xx[63] * xx[141] * xx[144]) * xx[4] + xx[131] + xx[38]); |
| 5698 | J[96] = xx[14] + xx[4] * (xx[28] - xx[22] * xx[3]) + (xx[3] * xx[20] + xx[11] * |
| 5699 | xx[21]) * xx[4]; |
| 5700 | J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4]; |
| 5701 | J[98] = xx[68] + xx[72]; |
| 5702 | J[99] = xx[56] + xx[59]; |
| 5703 | J[100] = xx[52] + xx[47]; |
| 5704 | J[101] = xx[83] + xx[98]; |
| 5705 | J[102] = xx[101] + xx[106]; |
| 5706 | J[103] = xx[109] + xx[62]; |
| 5707 | J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4]; |
| 5708 | J[108] = (xx[114] * xx[49] + xx[112]) * xx[4] + xx[120]; |
| 5709 | J[130] = - (xx[92] + xx[4] * (xx[129] - xx[40] * xx[85]) + (xx[40] * xx[102] - |
| 5710 | xx[86] * xx[103]) * xx[4]); |
| 5711 | J[131] = - (xx[95] + (xx[113] * motionData[168] + xx[135]) * xx[4]); |
| 5712 | J[132] = - (xx[150] + xx[77]); |
| 5713 | J[133] = - (xx[153] + xx[80]); |
| 5714 | J[134] = - ((xx[141] * xx[65] + xx[147]) * xx[4] + xx[132]); |
| 5715 | return 3; |
| 5716 | } |
| 5717 | |
| 5718 | static size_t computeAssemblyJacobian_4(const double *rtdv, const double *state, |
| 5719 | const double *motionData, double *J) |
| 5720 | { |
| 5721 | double xx[160]; |
| 5722 | (void) rtdv; |
| 5723 | xx[0] = 0.0; |
| 5724 | xx[1] = 0.3895853754265615; |
| 5725 | xx[2] = 0.5; |
| 5726 | xx[3] = xx[2] * state[12]; |
| 5727 | xx[4] = cos(xx[3]); |
| 5728 | xx[5] = 0.389581900177037; |
| 5729 | xx[6] = sin(xx[3]); |
| 5730 | xx[3] = xx[1] * xx[4] - xx[5] * xx[6]; |
| 5731 | xx[7] = 0.5901074779979933; |
| 5732 | xx[8] = 0.5901036711621462; |
| 5733 | xx[9] = xx[7] * xx[4] + xx[8] * xx[6]; |
| 5734 | xx[10] = - xx[9]; |
| 5735 | xx[11] = xx[8] * xx[4] - xx[7] * xx[6]; |
| 5736 | xx[7] = xx[5] * xx[4] + xx[1] * xx[6]; |
| 5737 | xx[1] = - xx[7]; |
| 5738 | xx[12] = xx[3]; |
| 5739 | xx[13] = xx[10]; |
| 5740 | xx[14] = xx[11]; |
| 5741 | xx[15] = xx[1]; |
| 5742 | xx[16] = motionData[490]; |
| 5743 | xx[17] = motionData[491]; |
| 5744 | xx[18] = motionData[492]; |
| 5745 | xx[19] = motionData[493]; |
| 5746 | pm_math_quatCompose(xx + 12, xx + 16, xx + 20); |
| 5747 | xx[4] = 2.0; |
| 5748 | xx[5] = 1.0; |
| 5749 | xx[12] = xx[4] * (motionData[490] * motionData[492] - motionData[491] * |
| 5750 | motionData[493]); |
| 5751 | xx[13] = - ((motionData[490] * motionData[491] + motionData[492] * motionData |
| 5752 | [493]) * xx[4]); |
| 5753 | xx[14] = (motionData[491] * motionData[491] + motionData[492] * motionData[492]) |
| 5754 | * xx[4] - xx[5]; |
| 5755 | xx[6] = 7.599121945184391e-12; |
| 5756 | xx[8] = 5.036130209737022e-12; |
| 5757 | xx[15] = 5.192027881355888e-12; |
| 5758 | xx[16] = - xx[6]; |
| 5759 | xx[17] = xx[8]; |
| 5760 | xx[18] = - xx[15]; |
| 5761 | pm_math_cross3(xx + 12, xx + 16, xx + 24); |
| 5762 | pm_math_quatXform(xx + 20, xx + 24, xx + 12); |
| 5763 | xx[19] = xx[10]; |
| 5764 | xx[20] = xx[11]; |
| 5765 | xx[21] = xx[1]; |
| 5766 | xx[1] = xx[7] * motionData[494]; |
| 5767 | xx[10] = xx[7] * motionData[495]; |
| 5768 | xx[22] = xx[11] * motionData[495] - xx[9] * motionData[494]; |
| 5769 | xx[23] = - xx[1]; |
| 5770 | xx[24] = - xx[10]; |
| 5771 | xx[25] = - xx[22]; |
| 5772 | pm_math_cross3(xx + 19, xx + 23, xx + 26); |
| 5773 | xx[19] = 0.02520954632904373; |
| 5774 | xx[20] = xx[19] * xx[9]; |
| 5775 | xx[21] = xx[19] * xx[7]; |
| 5776 | xx[23] = xx[2] * state[14]; |
| 5777 | xx[24] = cos(xx[23]); |
| 5778 | xx[25] = sin(xx[23]); |
| 5779 | xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16]; |
| 5780 | xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]); |
| 5781 | xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17]; |
| 5782 | xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16]; |
| 5783 | xx[33] = motionData[483]; |
| 5784 | xx[34] = motionData[484]; |
| 5785 | xx[35] = motionData[485]; |
| 5786 | xx[36] = motionData[486]; |
| 5787 | pm_math_quatCompose(xx + 29, xx + 33, xx + 37); |
| 5788 | xx[29] = xx[4] * (motionData[484] * motionData[486] - motionData[483] * |
| 5789 | motionData[485]); |
| 5790 | xx[30] = (motionData[483] * motionData[484] + motionData[485] * motionData[486]) |
| 5791 | * xx[4]; |
| 5792 | xx[31] = xx[5] - (motionData[484] * motionData[484] + motionData[485] * |
| 5793 | motionData[485]) * xx[4]; |
| 5794 | pm_math_cross3(xx + 29, xx + 16, xx + 32); |
| 5795 | pm_math_quatXform(xx + 37, xx + 32, xx + 29); |
| 5796 | xx[23] = xx[25] * motionData[488] - xx[24] * motionData[487]; |
| 5797 | xx[32] = 7.748428954013064e-12; |
| 5798 | xx[33] = 5.376764528053357e-12; |
| 5799 | xx[34] = xx[32] * xx[24] - xx[33] * xx[25]; |
| 5800 | xx[35] = xx[4] * xx[25] * xx[23] - (motionData[488] + xx[4] * xx[34] * xx[25]) |
| 5801 | - xx[33]; |
| 5802 | xx[36] = motionData[15]; |
| 5803 | xx[37] = motionData[16]; |
| 5804 | xx[38] = motionData[17]; |
| 5805 | xx[25] = motionData[487] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] + |
| 5806 | xx[32]; |
| 5807 | xx[23] = xx[25] * motionData[17]; |
| 5808 | xx[24] = xx[35] * motionData[17]; |
| 5809 | xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16]; |
| 5810 | xx[39] = - xx[23]; |
| 5811 | xx[40] = xx[24]; |
| 5812 | xx[41] = xx[32]; |
| 5813 | pm_math_cross3(xx + 36, xx + 39, xx + 42); |
| 5814 | xx[36] = motionData[203]; |
| 5815 | xx[37] = motionData[204]; |
| 5816 | xx[38] = motionData[205]; |
| 5817 | xx[39] = motionData[206]; |
| 5818 | xx[33] = 3.980251324392935e-7; |
| 5819 | xx[34] = 0.999999999999921; |
| 5820 | xx[40] = xx[33] * state[19] - xx[34] * state[16]; |
| 5821 | xx[41] = xx[33] * state[18] + xx[34] * state[17]; |
| 5822 | xx[45] = - xx[41]; |
| 5823 | xx[46] = xx[34] * state[18] - xx[33] * state[17]; |
| 5824 | xx[47] = - xx[46]; |
| 5825 | xx[48] = xx[33] * state[16] + xx[34] * state[19]; |
| 5826 | xx[49] = - xx[48]; |
| 5827 | xx[50] = xx[40]; |
| 5828 | xx[51] = xx[45]; |
| 5829 | xx[52] = xx[47]; |
| 5830 | xx[53] = xx[49]; |
| 5831 | pm_math_quatCompose(xx + 36, xx + 50, xx + 54); |
| 5832 | xx[58] = motionData[476]; |
| 5833 | xx[59] = motionData[477]; |
| 5834 | xx[60] = motionData[478]; |
| 5835 | xx[61] = motionData[479]; |
| 5836 | pm_math_quatCompose(xx + 54, xx + 58, xx + 62); |
| 5837 | xx[54] = motionData[477]; |
| 5838 | xx[55] = motionData[478]; |
| 5839 | xx[56] = motionData[479]; |
| 5840 | xx[57] = 7.960502648785241e-7; |
| 5841 | xx[58] = xx[57] * motionData[479]; |
| 5842 | xx[59] = xx[57] * motionData[477] + motionData[478]; |
| 5843 | xx[66] = xx[58]; |
| 5844 | xx[67] = motionData[479]; |
| 5845 | xx[68] = - xx[59]; |
| 5846 | pm_math_cross3(xx + 54, xx + 66, xx + 69); |
| 5847 | xx[60] = motionData[476] * motionData[479]; |
| 5848 | xx[66] = xx[5] + (xx[69] - xx[58] * motionData[476]) * xx[4]; |
| 5849 | xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57]; |
| 5850 | xx[68] = xx[4] * (xx[71] + xx[59] * motionData[476]); |
| 5851 | pm_math_cross3(xx + 66, xx + 16, xx + 69); |
| 5852 | pm_math_quatXform(xx + 62, xx + 69, xx + 66); |
| 5853 | xx[59] = - (xx[57] * motionData[482]); |
| 5854 | xx[69] = xx[59]; |
| 5855 | xx[70] = - motionData[482]; |
| 5856 | xx[71] = motionData[481] + xx[57] * motionData[480]; |
| 5857 | pm_math_quatXform(xx + 50, xx + 69, xx + 72); |
| 5858 | xx[61] = 2.329280111075767e-13; |
| 5859 | xx[69] = 2.926046524751139e-7; |
| 5860 | xx[75] = xx[61]; |
| 5861 | xx[76] = xx[69]; |
| 5862 | xx[77] = 0.04575000000718987; |
| 5863 | pm_math_quatXform(xx + 50, xx + 75, xx + 78); |
| 5864 | xx[81] = xx[72] + xx[78]; |
| 5865 | xx[82] = xx[73] + xx[79]; |
| 5866 | xx[83] = xx[74] + xx[80]; |
| 5867 | pm_math_quatXform(xx + 36, xx + 81, xx + 70); |
| 5868 | xx[73] = motionData[477] - xx[57] * motionData[478]; |
| 5869 | xx[78] = - motionData[479]; |
| 5870 | xx[79] = xx[58]; |
| 5871 | xx[80] = xx[73]; |
| 5872 | pm_math_cross3(xx + 54, xx + 78, xx + 81); |
| 5873 | xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4]; |
| 5874 | xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]); |
| 5875 | xx[56] = xx[4] * (xx[83] - xx[73] * motionData[476]); |
| 5876 | pm_math_cross3(xx + 54, xx + 16, xx + 78); |
| 5877 | pm_math_quatXform(xx + 62, xx + 78, xx + 54); |
| 5878 | xx[78] = motionData[482]; |
| 5879 | xx[79] = xx[59]; |
| 5880 | xx[80] = xx[57] * motionData[481] - motionData[480]; |
| 5881 | pm_math_quatXform(xx + 50, xx + 78, xx + 57); |
| 5882 | xx[78] = - xx[69]; |
| 5883 | xx[79] = xx[61]; |
| 5884 | xx[80] = 7.670997177269469e-12; |
| 5885 | pm_math_quatXform(xx + 50, xx + 78, xx + 81); |
| 5886 | xx[50] = xx[57] + xx[81]; |
| 5887 | xx[51] = xx[58] + xx[82]; |
| 5888 | xx[52] = xx[59] + xx[83]; |
| 5889 | pm_math_quatXform(xx + 36, xx + 50, xx + 57); |
| 5890 | xx[50] = xx[4] * (motionData[477] * motionData[479] - motionData[476] * |
| 5891 | motionData[478]); |
| 5892 | xx[51] = (motionData[476] * motionData[477] + motionData[478] * motionData[479]) |
| 5893 | * xx[4]; |
| 5894 | xx[52] = xx[5] - (motionData[477] * motionData[477] + motionData[478] * |
| 5895 | motionData[478]) * xx[4]; |
| 5896 | pm_math_cross3(xx + 50, xx + 16, xx + 81); |
| 5897 | pm_math_quatXform(xx + 62, xx + 81, xx + 50); |
| 5898 | xx[60] = xx[45]; |
| 5899 | xx[61] = xx[47]; |
| 5900 | xx[62] = xx[49]; |
| 5901 | xx[45] = xx[48] * motionData[480]; |
| 5902 | xx[47] = xx[48] * motionData[481]; |
| 5903 | xx[49] = xx[41] * motionData[480] + xx[46] * motionData[481]; |
| 5904 | xx[63] = xx[45]; |
| 5905 | xx[64] = xx[47]; |
| 5906 | xx[65] = - xx[49]; |
| 5907 | pm_math_cross3(xx + 60, xx + 63, xx + 81); |
| 5908 | xx[53] = 3.641162862673871e-8; |
| 5909 | xx[63] = xx[53] * xx[48]; |
| 5910 | xx[64] = 0.04575000000717538; |
| 5911 | xx[65] = xx[64] * xx[48]; |
| 5912 | xx[48] = xx[53] * xx[41] + xx[46] * xx[64]; |
| 5913 | xx[84] = xx[63]; |
| 5914 | xx[85] = xx[65]; |
| 5915 | xx[86] = - xx[48]; |
| 5916 | pm_math_cross3(xx + 60, xx + 84, xx + 87); |
| 5917 | xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40]) |
| 5918 | - motionData[481] - xx[64]; |
| 5919 | xx[61] = motionData[480] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx |
| 5920 | [40] + xx[88]) * xx[4] + xx[53]; |
| 5921 | xx[62] = (xx[83] - xx[49] * xx[40]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx |
| 5922 | [4]; |
| 5923 | pm_math_quatXform(xx + 36, xx + 60, xx + 45); |
| 5924 | xx[36] = motionData[210]; |
| 5925 | xx[37] = motionData[211]; |
| 5926 | xx[38] = motionData[212]; |
| 5927 | xx[39] = motionData[213]; |
| 5928 | xx[40] = 3.980251340548381e-7; |
| 5929 | xx[41] = xx[34] * state[26] - xx[40] * state[23]; |
| 5930 | xx[48] = xx[34] * state[25] - xx[40] * state[24]; |
| 5931 | xx[49] = xx[40] * state[25] + xx[34] * state[24]; |
| 5932 | xx[60] = - xx[49]; |
| 5933 | xx[61] = xx[40] * state[26] + xx[34] * state[23]; |
| 5934 | xx[40] = - xx[61]; |
| 5935 | xx[81] = xx[41]; |
| 5936 | xx[82] = xx[48]; |
| 5937 | xx[83] = xx[60]; |
| 5938 | xx[84] = xx[40]; |
| 5939 | pm_math_quatCompose(xx + 36, xx + 81, xx + 85); |
| 5940 | xx[81] = motionData[469]; |
| 5941 | xx[82] = motionData[470]; |
| 5942 | xx[83] = motionData[471]; |
| 5943 | xx[84] = motionData[472]; |
| 5944 | pm_math_quatCompose(xx + 85, xx + 81, xx + 89); |
| 5945 | xx[62] = motionData[471] * motionData[471]; |
| 5946 | xx[63] = motionData[472] * motionData[472]; |
| 5947 | xx[65] = motionData[470] * motionData[471]; |
| 5948 | xx[69] = motionData[469] * motionData[472]; |
| 5949 | xx[73] = motionData[469] * motionData[471]; |
| 5950 | xx[74] = motionData[470] * motionData[472]; |
| 5951 | xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4]; |
| 5952 | xx[82] = xx[4] * (xx[65] - xx[69]); |
| 5953 | xx[83] = (xx[73] + xx[74]) * xx[4]; |
| 5954 | pm_math_cross3(xx + 81, xx + 16, xx + 84); |
| 5955 | pm_math_quatXform(xx + 89, xx + 84, xx + 81); |
| 5956 | xx[84] = xx[48]; |
| 5957 | xx[85] = xx[60]; |
| 5958 | xx[86] = xx[40]; |
| 5959 | xx[40] = xx[49] * motionData[474]; |
| 5960 | xx[60] = xx[61] * motionData[475]; |
| 5961 | xx[87] = xx[40] + xx[60]; |
| 5962 | xx[88] = xx[48] * motionData[474]; |
| 5963 | xx[93] = xx[48] * motionData[475]; |
| 5964 | xx[94] = - xx[87]; |
| 5965 | xx[95] = - xx[88]; |
| 5966 | xx[96] = - xx[93]; |
| 5967 | pm_math_cross3(xx + 84, xx + 94, xx + 97); |
| 5968 | xx[94] = xx[49] * xx[8]; |
| 5969 | xx[95] = xx[61] * xx[15]; |
| 5970 | xx[96] = xx[94] - xx[95]; |
| 5971 | xx[100] = xx[8] * xx[48]; |
| 5972 | xx[101] = xx[15] * xx[48]; |
| 5973 | xx[102] = xx[96]; |
| 5974 | xx[103] = xx[100]; |
| 5975 | xx[104] = - xx[101]; |
| 5976 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 5977 | xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) * |
| 5978 | xx[4]; |
| 5979 | xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] * |
| 5980 | xx[41]) - motionData[475] - xx[15]; |
| 5981 | xx[104] = motionData[474] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] - |
| 5982 | xx[101] * xx[41]) * xx[4] - xx[8]; |
| 5983 | pm_math_quatXform(xx + 36, xx + 102, xx + 96); |
| 5984 | xx[87] = motionData[470] * motionData[470]; |
| 5985 | xx[88] = motionData[471] * motionData[472]; |
| 5986 | xx[93] = motionData[469] * motionData[470]; |
| 5987 | xx[99] = (xx[69] + xx[65]) * xx[4]; |
| 5988 | xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4]; |
| 5989 | xx[101] = xx[4] * (xx[88] - xx[93]); |
| 5990 | pm_math_cross3(xx + 99, xx + 16, xx + 102); |
| 5991 | pm_math_quatXform(xx + 89, xx + 102, xx + 99); |
| 5992 | xx[63] = xx[49] * motionData[473]; |
| 5993 | xx[65] = xx[48] * motionData[473]; |
| 5994 | xx[69] = xx[65] - xx[60]; |
| 5995 | xx[60] = xx[49] * motionData[475]; |
| 5996 | xx[102] = xx[63]; |
| 5997 | xx[103] = xx[69]; |
| 5998 | xx[104] = xx[60]; |
| 5999 | pm_math_cross3(xx + 84, xx + 102, xx + 105); |
| 6000 | xx[102] = xx[49] * xx[6]; |
| 6001 | xx[103] = xx[6] * xx[48]; |
| 6002 | xx[48] = xx[95] - xx[103]; |
| 6003 | xx[95] = xx[49] * xx[15]; |
| 6004 | xx[108] = xx[102]; |
| 6005 | xx[109] = - xx[48]; |
| 6006 | xx[110] = xx[95]; |
| 6007 | pm_math_cross3(xx + 84, xx + 108, xx + 111); |
| 6008 | xx[108] = motionData[475] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx |
| 6009 | [111] + xx[102] * xx[41]) + xx[15]; |
| 6010 | xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] * |
| 6011 | xx[41]); |
| 6012 | xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) * |
| 6013 | xx[4] - motionData[473] - xx[6]; |
| 6014 | pm_math_quatXform(xx + 36, xx + 108, xx + 104); |
| 6015 | xx[107] = xx[4] * (xx[74] - xx[73]); |
| 6016 | xx[108] = (xx[93] + xx[88]) * xx[4]; |
| 6017 | xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4]; |
| 6018 | pm_math_cross3(xx + 107, xx + 16, xx + 110); |
| 6019 | pm_math_quatXform(xx + 89, xx + 110, xx + 107); |
| 6020 | xx[15] = xx[61] * motionData[473]; |
| 6021 | xx[48] = xx[61] * motionData[474]; |
| 6022 | xx[49] = xx[65] - xx[40]; |
| 6023 | xx[87] = xx[15]; |
| 6024 | xx[88] = xx[48]; |
| 6025 | xx[89] = xx[49]; |
| 6026 | pm_math_cross3(xx + 84, xx + 87, xx + 90); |
| 6027 | xx[40] = xx[61] * xx[6]; |
| 6028 | xx[60] = xx[61] * xx[8]; |
| 6029 | xx[61] = xx[103] + xx[94]; |
| 6030 | xx[87] = xx[40]; |
| 6031 | xx[88] = - xx[60]; |
| 6032 | xx[89] = xx[61]; |
| 6033 | pm_math_cross3(xx + 84, xx + 87, xx + 93); |
| 6034 | xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx |
| 6035 | [4] - motionData[474] + xx[8]; |
| 6036 | xx[85] = motionData[473] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94] |
| 6037 | - xx[60] * xx[41]) + xx[6]; |
| 6038 | xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx |
| 6039 | [4]; |
| 6040 | pm_math_quatXform(xx + 36, xx + 84, xx + 60); |
| 6041 | xx[15] = xx[2] * state[30]; |
| 6042 | xx[36] = cos(xx[15]); |
| 6043 | xx[37] = sin(xx[15]); |
| 6044 | xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220]; |
| 6045 | xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219]; |
| 6046 | xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218]; |
| 6047 | xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220]; |
| 6048 | xx[84] = motionData[77]; |
| 6049 | xx[85] = motionData[78]; |
| 6050 | xx[86] = motionData[79]; |
| 6051 | xx[87] = motionData[80]; |
| 6052 | pm_math_quatCompose(xx + 38, xx + 84, xx + 88); |
| 6053 | xx[38] = xx[4] * (motionData[78] * motionData[80] - motionData[77] * |
| 6054 | motionData[79]); |
| 6055 | xx[39] = (motionData[77] * motionData[78] + motionData[79] * motionData[80]) * |
| 6056 | xx[4]; |
| 6057 | xx[40] = xx[5] - (motionData[78] * motionData[78] + motionData[79] * |
| 6058 | motionData[79]) * xx[4]; |
| 6059 | pm_math_cross3(xx + 38, xx + 16, xx + 84); |
| 6060 | pm_math_quatXform(xx + 88, xx + 84, xx + 15); |
| 6061 | xx[18] = xx[37] * motionData[82]; |
| 6062 | xx[38] = xx[37] * motionData[81]; |
| 6063 | xx[39] = 0.02540000000000185; |
| 6064 | xx[40] = xx[39] * xx[37]; |
| 6065 | xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[82] + xx[4] * |
| 6066 | xx[36] * xx[40]; |
| 6067 | xx[84] = motionData[218]; |
| 6068 | xx[85] = motionData[219]; |
| 6069 | xx[86] = motionData[220]; |
| 6070 | xx[48] = motionData[81] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4] |
| 6071 | * xx[40] * xx[37]) - xx[39]; |
| 6072 | xx[18] = xx[48] * motionData[220]; |
| 6073 | xx[36] = xx[41] * motionData[220]; |
| 6074 | xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219]; |
| 6075 | xx[38] = - xx[18]; |
| 6076 | xx[39] = xx[36]; |
| 6077 | xx[40] = xx[37]; |
| 6078 | pm_math_cross3(xx + 84, xx + 38, xx + 87); |
| 6079 | xx[90] = motionData[224]; |
| 6080 | xx[91] = motionData[225]; |
| 6081 | xx[92] = motionData[226]; |
| 6082 | xx[93] = motionData[227]; |
| 6083 | xx[38] = 0.6123724356957949; |
| 6084 | xx[39] = xx[2] * state[40]; |
| 6085 | xx[40] = sin(xx[39]); |
| 6086 | xx[49] = xx[38] * xx[40]; |
| 6087 | xx[63] = cos(xx[39]); |
| 6088 | xx[39] = xx[38] * xx[63]; |
| 6089 | xx[38] = xx[49] - xx[39]; |
| 6090 | xx[65] = 0.3535533905932732; |
| 6091 | xx[69] = xx[65] * xx[63]; |
| 6092 | xx[63] = xx[65] * xx[40]; |
| 6093 | xx[40] = xx[69] + xx[63]; |
| 6094 | xx[65] = - xx[40]; |
| 6095 | xx[73] = xx[63] - xx[69]; |
| 6096 | xx[63] = xx[49] + xx[39]; |
| 6097 | xx[39] = - xx[63]; |
| 6098 | xx[110] = xx[38]; |
| 6099 | xx[111] = xx[65]; |
| 6100 | xx[112] = xx[73]; |
| 6101 | xx[113] = xx[39]; |
| 6102 | pm_math_quatCompose(xx + 90, xx + 110, xx + 114); |
| 6103 | xx[49] = xx[6] * xx[117]; |
| 6104 | xx[69] = xx[8] * xx[116] - xx[6] * xx[115]; |
| 6105 | xx[84] = xx[49]; |
| 6106 | xx[85] = - (xx[8] * xx[117]); |
| 6107 | xx[86] = xx[69]; |
| 6108 | pm_math_cross3(xx + 115, xx + 84, xx + 110); |
| 6109 | xx[74] = 5.088251355846174e-12; |
| 6110 | xx[84] = xx[65]; |
| 6111 | xx[85] = xx[73]; |
| 6112 | xx[86] = xx[39]; |
| 6113 | xx[39] = 7.483145982728478e-12; |
| 6114 | xx[65] = xx[63] * xx[39]; |
| 6115 | xx[94] = xx[63] * xx[74]; |
| 6116 | xx[63] = xx[40] * xx[39] + xx[74] * xx[73]; |
| 6117 | xx[118] = xx[65]; |
| 6118 | xx[119] = - xx[94]; |
| 6119 | xx[120] = - xx[63]; |
| 6120 | pm_math_cross3(xx + 84, xx + 118, xx + 121); |
| 6121 | xx[84] = xx[74] + xx[4] * (xx[121] + xx[65] * xx[38]); |
| 6122 | xx[85] = xx[39] + (xx[122] - xx[94] * xx[38]) * xx[4]; |
| 6123 | xx[86] = (xx[123] - xx[63] * xx[38]) * xx[4]; |
| 6124 | pm_math_quatXform(xx + 90, xx + 84, xx + 38); |
| 6125 | xx[63] = 0.04233709306330295; |
| 6126 | xx[65] = xx[2] * state[42]; |
| 6127 | xx[73] = cos(xx[65]); |
| 6128 | xx[74] = 0.04233598682685397; |
| 6129 | xx[84] = sin(xx[65]); |
| 6130 | xx[65] = xx[63] * xx[73] + xx[74] * xx[84]; |
| 6131 | xx[85] = 0.7058357201813958; |
| 6132 | xx[86] = 0.7058407546227096; |
| 6133 | xx[90] = xx[85] * xx[84] - xx[86] * xx[73]; |
| 6134 | xx[91] = xx[85] * xx[73] + xx[86] * xx[84]; |
| 6135 | xx[85] = xx[63] * xx[84] - xx[74] * xx[73]; |
| 6136 | xx[92] = xx[65]; |
| 6137 | xx[93] = xx[90]; |
| 6138 | xx[94] = xx[91]; |
| 6139 | xx[95] = xx[85]; |
| 6140 | xx[118] = motionData[462]; |
| 6141 | xx[119] = motionData[463]; |
| 6142 | xx[120] = motionData[464]; |
| 6143 | xx[121] = motionData[465]; |
| 6144 | pm_math_quatCompose(xx + 92, xx + 118, xx + 122); |
| 6145 | xx[92] = xx[4] * (motionData[463] * motionData[465] - motionData[462] * |
| 6146 | motionData[464]); |
| 6147 | xx[93] = (motionData[462] * motionData[463] + motionData[464] * motionData[465]) |
| 6148 | * xx[4]; |
| 6149 | xx[94] = xx[5] - (motionData[463] * motionData[463] + motionData[464] * |
| 6150 | motionData[464]) * xx[4]; |
| 6151 | xx[63] = 3.641924106626229e-8; |
| 6152 | xx[73] = 0.04574999999998041; |
| 6153 | xx[74] = 2.92603149291605e-7; |
| 6154 | xx[118] = xx[63]; |
| 6155 | xx[119] = xx[73]; |
| 6156 | xx[120] = xx[74]; |
| 6157 | pm_math_cross3(xx + 92, xx + 118, xx + 126); |
| 6158 | pm_math_quatXform(xx + 122, xx + 126, xx + 92); |
| 6159 | xx[121] = xx[90]; |
| 6160 | xx[122] = xx[91]; |
| 6161 | xx[123] = xx[85]; |
| 6162 | xx[84] = xx[85] * motionData[466]; |
| 6163 | xx[86] = xx[85] * motionData[467]; |
| 6164 | xx[95] = xx[90] * motionData[466] + xx[91] * motionData[467]; |
| 6165 | xx[124] = - xx[84]; |
| 6166 | xx[125] = - xx[86]; |
| 6167 | xx[126] = xx[95]; |
| 6168 | pm_math_cross3(xx + 121, xx + 124, xx + 127); |
| 6169 | xx[102] = xx[90] * xx[19]; |
| 6170 | xx[103] = xx[85] * xx[19]; |
| 6171 | xx[113] = xx[2] * state[44]; |
| 6172 | xx[2] = cos(xx[113]); |
| 6173 | xx[115] = sin(xx[113]); |
| 6174 | xx[121] = xx[2] * motionData[85] - xx[115] * motionData[86]; |
| 6175 | xx[122] = - (xx[2] * motionData[84] + xx[115] * motionData[87]); |
| 6176 | xx[123] = xx[115] * motionData[84] - xx[2] * motionData[87]; |
| 6177 | xx[124] = xx[115] * motionData[85] + xx[2] * motionData[86]; |
| 6178 | xx[130] = motionData[98]; |
| 6179 | xx[131] = motionData[99]; |
| 6180 | xx[132] = motionData[100]; |
| 6181 | xx[133] = motionData[101]; |
| 6182 | pm_math_quatCompose(xx + 121, xx + 130, xx + 134); |
| 6183 | xx[121] = xx[4] * (motionData[99] * motionData[101] - motionData[98] * |
| 6184 | motionData[100]); |
| 6185 | xx[122] = (motionData[98] * motionData[99] + motionData[100] * motionData[101]) |
| 6186 | * xx[4]; |
| 6187 | xx[123] = xx[5] - (motionData[99] * motionData[99] + motionData[100] * |
| 6188 | motionData[100]) * xx[4]; |
| 6189 | pm_math_cross3(xx + 121, xx + 118, xx + 124); |
| 6190 | pm_math_quatXform(xx + 134, xx + 124, xx + 118); |
| 6191 | xx[5] = xx[115] * motionData[103] - xx[2] * motionData[102]; |
| 6192 | xx[113] = 3.107391981487723e-12; |
| 6193 | xx[116] = 9.83617579279345e-12; |
| 6194 | xx[121] = xx[113] * xx[2] + xx[116] * xx[115]; |
| 6195 | xx[122] = xx[4] * xx[115] * xx[5] - (motionData[103] - xx[4] * xx[121] * xx |
| 6196 | [115]) - xx[116]; |
| 6197 | xx[123] = motionData[85]; |
| 6198 | xx[124] = motionData[86]; |
| 6199 | xx[125] = motionData[87]; |
| 6200 | xx[115] = motionData[102] + xx[4] * xx[2] * xx[5] + xx[4] * xx[121] * xx[2] - |
| 6201 | xx[113]; |
| 6202 | xx[2] = xx[115] * motionData[87]; |
| 6203 | xx[5] = xx[122] * motionData[87]; |
| 6204 | xx[113] = xx[115] * motionData[85] - xx[122] * motionData[86]; |
| 6205 | xx[130] = - xx[2]; |
| 6206 | xx[131] = xx[5]; |
| 6207 | xx[132] = xx[113]; |
| 6208 | pm_math_cross3(xx + 123, xx + 130, xx + 133); |
| 6209 | xx[123] = motionData[441]; |
| 6210 | xx[124] = motionData[442]; |
| 6211 | xx[125] = motionData[443]; |
| 6212 | xx[126] = motionData[444]; |
| 6213 | xx[116] = xx[33] * state[49] - xx[34] * state[46]; |
| 6214 | xx[121] = xx[33] * state[48] + xx[34] * state[47]; |
| 6215 | xx[130] = - xx[121]; |
| 6216 | xx[131] = xx[34] * state[48] - xx[33] * state[47]; |
| 6217 | xx[132] = - xx[131]; |
| 6218 | xx[136] = xx[33] * state[46] + xx[34] * state[49]; |
| 6219 | xx[33] = - xx[136]; |
| 6220 | xx[137] = xx[116]; |
| 6221 | xx[138] = xx[130]; |
| 6222 | xx[139] = xx[132]; |
| 6223 | xx[140] = xx[33]; |
| 6224 | pm_math_quatCompose(xx + 123, xx + 137, xx + 141); |
| 6225 | xx[34] = - 2.329268144978725e-13; |
| 6226 | xx[145] = xx[34]; |
| 6227 | xx[146] = - xx[74]; |
| 6228 | xx[147] = 0.0457500000000094; |
| 6229 | pm_math_quatXform(xx + 141, xx + 145, xx + 148); |
| 6230 | pm_math_quatXform(xx + 137, xx + 75, xx + 145); |
| 6231 | pm_math_quatXform(xx + 123, xx + 145, xx + 75); |
| 6232 | xx[145] = xx[74]; |
| 6233 | xx[146] = xx[34]; |
| 6234 | xx[147] = 5.855191459023036e-14; |
| 6235 | pm_math_quatXform(xx + 141, xx + 145, xx + 151); |
| 6236 | pm_math_quatXform(xx + 137, xx + 78, xx + 145); |
| 6237 | pm_math_quatXform(xx + 123, xx + 145, xx + 78); |
| 6238 | xx[34] = xx[63] * xx[144]; |
| 6239 | xx[74] = xx[63] * xx[142] + xx[73] * xx[143]; |
| 6240 | xx[137] = - xx[34]; |
| 6241 | xx[138] = - (xx[73] * xx[144]); |
| 6242 | xx[139] = xx[74]; |
| 6243 | pm_math_cross3(xx + 142, xx + 137, xx + 145); |
| 6244 | xx[137] = xx[130]; |
| 6245 | xx[138] = xx[132]; |
| 6246 | xx[139] = xx[33]; |
| 6247 | xx[33] = xx[53] * xx[136]; |
| 6248 | xx[130] = xx[64] * xx[136]; |
| 6249 | xx[132] = xx[53] * xx[121] + xx[131] * xx[64]; |
| 6250 | xx[154] = xx[33]; |
| 6251 | xx[155] = xx[130]; |
| 6252 | xx[156] = - xx[132]; |
| 6253 | pm_math_cross3(xx + 137, xx + 154, xx + 157); |
| 6254 | xx[136] = xx[4] * (xx[157] + xx[33] * xx[116]) - xx[64]; |
| 6255 | xx[137] = xx[53] + (xx[130] * xx[116] + xx[158]) * xx[4]; |
| 6256 | xx[138] = (xx[159] - xx[132] * xx[116]) * xx[4]; |
| 6257 | pm_math_quatXform(xx + 123, xx + 136, xx + 130); |
| 6258 | J[6] = xx[12] + motionData[495] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] * |
| 6259 | (xx[11] * xx[20] - xx[3] * xx[21]); |
| 6260 | J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]); |
| 6261 | J[8] = xx[66] + xx[70]; |
| 6262 | J[9] = xx[54] + xx[57]; |
| 6263 | J[10] = xx[50] + xx[45]; |
| 6264 | J[11] = xx[81] + xx[96]; |
| 6265 | J[12] = xx[99] + xx[104]; |
| 6266 | J[13] = xx[107] + xx[60]; |
| 6267 | J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]); |
| 6268 | J[19] = xx[4] * (xx[110] + xx[114] * xx[49]) + xx[38] - xx[8]; |
| 6269 | J[20] = - (xx[92] + xx[4] * (xx[127] - xx[84] * xx[65]) - motionData[467] + |
| 6270 | xx[4] * (xx[102] * xx[91] - xx[103] * xx[65])); |
| 6271 | J[21] = - (xx[118] + xx[122] + xx[4] * (xx[133] - xx[2] * motionData[84])); |
| 6272 | J[22] = - (xx[148] + xx[75]); |
| 6273 | J[23] = - (xx[151] + xx[78]); |
| 6274 | J[24] = - (xx[4] * (xx[145] - xx[141] * xx[34]) + xx[130] - xx[73]); |
| 6275 | J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[494] - (xx[21] |
| 6276 | * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19]; |
| 6277 | J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4]; |
| 6278 | J[53] = xx[67] + xx[71]; |
| 6279 | J[54] = xx[55] + xx[58]; |
| 6280 | J[55] = xx[51] + xx[46]; |
| 6281 | J[56] = xx[82] + xx[97]; |
| 6282 | J[57] = xx[100] + xx[105]; |
| 6283 | J[58] = xx[108] + xx[61]; |
| 6284 | J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4]; |
| 6285 | J[64] = (xx[111] - xx[8] * xx[114] * xx[117]) * xx[4] + xx[39] - xx[6]; |
| 6286 | J[65] = - (xx[93] + motionData[466] + xx[4] * (xx[128] - xx[86] * xx[65]) - |
| 6287 | (xx[85] * xx[103] + xx[90] * xx[102]) * xx[4] + xx[19]); |
| 6288 | J[66] = - (xx[119] + xx[115] + (xx[5] * motionData[84] + xx[134]) * xx[4]); |
| 6289 | J[67] = - (xx[149] + xx[76]); |
| 6290 | J[68] = - (xx[152] + xx[79]); |
| 6291 | J[69] = - ((xx[146] - xx[73] * xx[141] * xx[144]) * xx[4] + xx[131] + xx[63]); |
| 6292 | J[96] = xx[14] + xx[4] * (xx[28] - xx[3] * xx[22]) + (xx[3] * xx[20] + xx[11] * |
| 6293 | xx[21]) * xx[4]; |
| 6294 | J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4]; |
| 6295 | J[98] = xx[68] + xx[72]; |
| 6296 | J[99] = xx[56] + xx[59]; |
| 6297 | J[100] = xx[52] + xx[47]; |
| 6298 | J[101] = xx[83] + xx[98]; |
| 6299 | J[102] = xx[101] + xx[106]; |
| 6300 | J[103] = xx[109] + xx[62]; |
| 6301 | J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4]; |
| 6302 | J[109] = (xx[114] * xx[69] + xx[112]) * xx[4] + xx[40]; |
| 6303 | J[110] = - (xx[94] + (xx[95] * xx[65] + xx[129]) * xx[4] + (xx[102] * xx[65] + |
| 6304 | xx[103] * xx[91]) * xx[4]); |
| 6305 | J[111] = - (xx[120] + (xx[113] * motionData[84] + xx[135]) * xx[4]); |
| 6306 | J[112] = - (xx[150] + xx[77]); |
| 6307 | J[113] = - (xx[153] + xx[80]); |
| 6308 | J[114] = - ((xx[141] * xx[74] + xx[147]) * xx[4] + xx[132]); |
| 6309 | return 3; |
| 6310 | } |
| 6311 | |
| 6312 | size_t PlatformAssem_f0ca4364_1_computeAssemblyJacobian(const void *mech, const |
| 6313 | double *rtdv, size_t constraintIdx, boolean_T forVelocitySatisfaction, const |
| 6314 | double *state, const double *motionData, double *J) |
| 6315 | { |
| 6316 | (void) mech; |
| 6317 | (void) rtdv; |
| 6318 | (void) state; |
| 6319 | (void) forVelocitySatisfaction; |
| 6320 | (void) motionData; |
| 6321 | (void) J; |
| 6322 | switch (constraintIdx) |
| 6323 | { |
| 6324 | case 0: |
| 6325 | return computeAssemblyJacobian_0(rtdv, state, motionData, J); |
| 6326 | |
| 6327 | case 1: |
| 6328 | return computeAssemblyJacobian_1(rtdv, state, motionData, J); |
| 6329 | |
| 6330 | case 2: |
| 6331 | return computeAssemblyJacobian_2(rtdv, state, motionData, J); |
| 6332 | |
| 6333 | case 3: |
| 6334 | return computeAssemblyJacobian_3(rtdv, state, motionData, J); |
| 6335 | |
| 6336 | case 4: |
| 6337 | return computeAssemblyJacobian_4(rtdv, state, motionData, J); |
| 6338 | } |
| 6339 | |
| 6340 | return 0; |
| 6341 | } |
| 6342 | |
| 6343 | size_t PlatformAssem_f0ca4364_1_computeFullAssemblyJacobian(const void *mech, |
| 6344 | const double *rtdv, const double *state, const double *motionData, double *J) |
| 6345 | { |
| 6346 | double xx[674]; |
| 6347 | (void) mech; |
| 6348 | (void) rtdv; |
| 6349 | xx[0] = 0.0; |
| 6350 | xx[1] = 0.3895853754265615; |
| 6351 | xx[2] = 0.5; |
| 6352 | xx[3] = xx[2] * state[12]; |
| 6353 | xx[4] = cos(xx[3]); |
| 6354 | xx[5] = 0.389581900177037; |
| 6355 | xx[6] = sin(xx[3]); |
| 6356 | xx[3] = xx[1] * xx[4] - xx[5] * xx[6]; |
| 6357 | xx[7] = 0.5901074779979933; |
| 6358 | xx[8] = 0.5901036711621462; |
| 6359 | xx[9] = xx[7] * xx[4] + xx[8] * xx[6]; |
| 6360 | xx[10] = - xx[9]; |
| 6361 | xx[11] = xx[8] * xx[4] - xx[7] * xx[6]; |
| 6362 | xx[7] = xx[5] * xx[4] + xx[1] * xx[6]; |
| 6363 | xx[1] = - xx[7]; |
| 6364 | xx[12] = xx[3]; |
| 6365 | xx[13] = xx[10]; |
| 6366 | xx[14] = xx[11]; |
| 6367 | xx[15] = xx[1]; |
| 6368 | xx[16] = motionData[266]; |
| 6369 | xx[17] = motionData[267]; |
| 6370 | xx[18] = motionData[268]; |
| 6371 | xx[19] = motionData[269]; |
| 6372 | pm_math_quatCompose(xx + 12, xx + 16, xx + 20); |
| 6373 | xx[4] = 2.0; |
| 6374 | xx[5] = 1.0; |
| 6375 | xx[16] = xx[4] * (motionData[266] * motionData[268] - motionData[267] * |
| 6376 | motionData[269]); |
| 6377 | xx[17] = - ((motionData[266] * motionData[267] + motionData[268] * motionData |
| 6378 | [269]) * xx[4]); |
| 6379 | xx[18] = (motionData[267] * motionData[267] + motionData[268] * motionData[268]) |
| 6380 | * xx[4] - xx[5]; |
| 6381 | xx[6] = 7.599121945184391e-12; |
| 6382 | xx[8] = 5.036130209737022e-12; |
| 6383 | xx[19] = 5.192027881355888e-12; |
| 6384 | xx[24] = - xx[6]; |
| 6385 | xx[25] = xx[8]; |
| 6386 | xx[26] = - xx[19]; |
| 6387 | pm_math_cross3(xx + 16, xx + 24, xx + 27); |
| 6388 | pm_math_quatXform(xx + 20, xx + 27, xx + 16); |
| 6389 | xx[20] = xx[10]; |
| 6390 | xx[21] = xx[11]; |
| 6391 | xx[22] = xx[1]; |
| 6392 | xx[1] = xx[7] * motionData[270]; |
| 6393 | xx[10] = xx[7] * motionData[271]; |
| 6394 | xx[23] = xx[11] * motionData[271] - xx[9] * motionData[270]; |
| 6395 | xx[27] = - xx[1]; |
| 6396 | xx[28] = - xx[10]; |
| 6397 | xx[29] = - xx[23]; |
| 6398 | pm_math_cross3(xx + 20, xx + 27, xx + 30); |
| 6399 | xx[27] = 0.02520954632904373; |
| 6400 | xx[28] = xx[27] * xx[9]; |
| 6401 | xx[29] = xx[27] * xx[7]; |
| 6402 | xx[33] = xx[4] * (xx[11] * xx[28] - xx[3] * xx[29]); |
| 6403 | xx[34] = xx[2] * state[14]; |
| 6404 | xx[35] = cos(xx[34]); |
| 6405 | xx[36] = sin(xx[34]); |
| 6406 | xx[37] = xx[35] * motionData[15] - xx[36] * motionData[16]; |
| 6407 | xx[38] = - (xx[35] * motionData[14] + xx[36] * motionData[17]); |
| 6408 | xx[39] = xx[36] * motionData[14] - xx[35] * motionData[17]; |
| 6409 | xx[40] = xx[36] * motionData[15] + xx[35] * motionData[16]; |
| 6410 | xx[41] = motionData[259]; |
| 6411 | xx[42] = motionData[260]; |
| 6412 | xx[43] = motionData[261]; |
| 6413 | xx[44] = motionData[262]; |
| 6414 | pm_math_quatCompose(xx + 37, xx + 41, xx + 45); |
| 6415 | xx[41] = xx[4] * (motionData[260] * motionData[262] - motionData[259] * |
| 6416 | motionData[261]); |
| 6417 | xx[42] = (motionData[259] * motionData[260] + motionData[261] * motionData[262]) |
| 6418 | * xx[4]; |
| 6419 | xx[43] = xx[5] - (motionData[260] * motionData[260] + motionData[261] * |
| 6420 | motionData[261]) * xx[4]; |
| 6421 | pm_math_cross3(xx + 41, xx + 24, xx + 49); |
| 6422 | pm_math_quatXform(xx + 45, xx + 49, xx + 41); |
| 6423 | xx[34] = xx[36] * motionData[264] - xx[35] * motionData[263]; |
| 6424 | xx[44] = 7.748428954013064e-12; |
| 6425 | xx[45] = 5.376764528053357e-12; |
| 6426 | xx[46] = xx[44] * xx[35] - xx[45] * xx[36]; |
| 6427 | xx[47] = xx[4] * xx[46] * xx[36]; |
| 6428 | xx[48] = xx[4] * xx[36] * xx[34] - (motionData[264] + xx[47]) - xx[45]; |
| 6429 | xx[49] = motionData[15]; |
| 6430 | xx[50] = motionData[16]; |
| 6431 | xx[51] = motionData[17]; |
| 6432 | xx[52] = xx[4] * xx[46] * xx[35]; |
| 6433 | xx[46] = motionData[263] + xx[4] * xx[35] * xx[34] - xx[52] + xx[44]; |
| 6434 | xx[34] = xx[46] * motionData[17]; |
| 6435 | xx[53] = xx[48] * motionData[17]; |
| 6436 | xx[54] = xx[46] * motionData[15] - xx[48] * motionData[16]; |
| 6437 | xx[55] = - xx[34]; |
| 6438 | xx[56] = xx[53]; |
| 6439 | xx[57] = xx[54]; |
| 6440 | pm_math_cross3(xx + 49, xx + 55, xx + 58); |
| 6441 | xx[61] = motionData[203]; |
| 6442 | xx[62] = motionData[204]; |
| 6443 | xx[63] = motionData[205]; |
| 6444 | xx[64] = motionData[206]; |
| 6445 | xx[55] = 3.980251324392935e-7; |
| 6446 | xx[56] = 0.999999999999921; |
| 6447 | xx[57] = xx[55] * state[19] - xx[56] * state[16]; |
| 6448 | xx[65] = xx[55] * state[18] + xx[56] * state[17]; |
| 6449 | xx[66] = - xx[65]; |
| 6450 | xx[67] = xx[56] * state[18] - xx[55] * state[17]; |
| 6451 | xx[68] = - xx[67]; |
| 6452 | xx[69] = xx[55] * state[16] + xx[56] * state[19]; |
| 6453 | xx[70] = - xx[69]; |
| 6454 | xx[71] = xx[57]; |
| 6455 | xx[72] = xx[66]; |
| 6456 | xx[73] = xx[68]; |
| 6457 | xx[74] = xx[70]; |
| 6458 | pm_math_quatCompose(xx + 61, xx + 71, xx + 75); |
| 6459 | xx[79] = motionData[252]; |
| 6460 | xx[80] = motionData[253]; |
| 6461 | xx[81] = motionData[254]; |
| 6462 | xx[82] = motionData[255]; |
| 6463 | pm_math_quatCompose(xx + 75, xx + 79, xx + 83); |
| 6464 | xx[79] = motionData[253]; |
| 6465 | xx[80] = motionData[254]; |
| 6466 | xx[81] = motionData[255]; |
| 6467 | xx[82] = 7.960502648785241e-7; |
| 6468 | xx[87] = xx[82] * motionData[255]; |
| 6469 | xx[88] = xx[82] * motionData[253] + motionData[254]; |
| 6470 | xx[89] = xx[87]; |
| 6471 | xx[90] = motionData[255]; |
| 6472 | xx[91] = - xx[88]; |
| 6473 | pm_math_cross3(xx + 79, xx + 89, xx + 92); |
| 6474 | xx[89] = motionData[252] * motionData[255]; |
| 6475 | xx[95] = xx[5] + (xx[92] - xx[87] * motionData[252]) * xx[4]; |
| 6476 | xx[96] = xx[4] * (xx[93] - xx[89]) - xx[82]; |
| 6477 | xx[97] = xx[4] * (xx[94] + xx[88] * motionData[252]); |
| 6478 | pm_math_cross3(xx + 95, xx + 24, xx + 90); |
| 6479 | pm_math_quatXform(xx + 83, xx + 90, xx + 93); |
| 6480 | xx[88] = - (xx[82] * motionData[258]); |
| 6481 | xx[90] = xx[88]; |
| 6482 | xx[91] = - motionData[258]; |
| 6483 | xx[92] = motionData[257] + xx[82] * motionData[256]; |
| 6484 | pm_math_quatXform(xx + 71, xx + 90, xx + 96); |
| 6485 | xx[90] = 2.329280111075767e-13; |
| 6486 | xx[91] = 2.926046524751139e-7; |
| 6487 | xx[99] = xx[90]; |
| 6488 | xx[100] = xx[91]; |
| 6489 | xx[101] = 0.04575000000718987; |
| 6490 | pm_math_quatXform(xx + 71, xx + 99, xx + 102); |
| 6491 | xx[105] = xx[96] + xx[102]; |
| 6492 | xx[106] = xx[97] + xx[103]; |
| 6493 | xx[107] = xx[98] + xx[104]; |
| 6494 | pm_math_quatXform(xx + 61, xx + 105, xx + 96); |
| 6495 | xx[92] = motionData[253] - xx[82] * motionData[254]; |
| 6496 | xx[105] = - motionData[255]; |
| 6497 | xx[106] = xx[87]; |
| 6498 | xx[107] = xx[92]; |
| 6499 | pm_math_cross3(xx + 79, xx + 105, xx + 108); |
| 6500 | xx[79] = xx[82] + (xx[89] + xx[108]) * xx[4]; |
| 6501 | xx[80] = xx[5] + xx[4] * (xx[109] - xx[82] * xx[89]); |
| 6502 | xx[81] = xx[4] * (xx[110] - xx[92] * motionData[252]); |
| 6503 | pm_math_cross3(xx + 79, xx + 24, xx + 105); |
| 6504 | pm_math_quatXform(xx + 83, xx + 105, xx + 79); |
| 6505 | xx[105] = motionData[258]; |
| 6506 | xx[106] = xx[88]; |
| 6507 | xx[107] = xx[82] * motionData[257] - motionData[256]; |
| 6508 | pm_math_quatXform(xx + 71, xx + 105, xx + 87); |
| 6509 | xx[105] = - xx[91]; |
| 6510 | xx[106] = xx[90]; |
| 6511 | xx[107] = 7.670997177269469e-12; |
| 6512 | pm_math_quatXform(xx + 71, xx + 105, xx + 90); |
| 6513 | xx[108] = xx[87] + xx[90]; |
| 6514 | xx[109] = xx[88] + xx[91]; |
| 6515 | xx[110] = xx[89] + xx[92]; |
| 6516 | pm_math_quatXform(xx + 61, xx + 108, xx + 87); |
| 6517 | xx[108] = xx[4] * (motionData[253] * motionData[255] - motionData[252] * |
| 6518 | motionData[254]); |
| 6519 | xx[109] = (motionData[252] * motionData[253] + motionData[254] * motionData |
| 6520 | [255]) * xx[4]; |
| 6521 | xx[110] = xx[5] - (motionData[253] * motionData[253] + motionData[254] * |
| 6522 | motionData[254]) * xx[4]; |
| 6523 | pm_math_cross3(xx + 108, xx + 24, xx + 111); |
| 6524 | pm_math_quatXform(xx + 83, xx + 111, xx + 108); |
| 6525 | xx[83] = xx[66]; |
| 6526 | xx[84] = xx[68]; |
| 6527 | xx[85] = xx[70]; |
| 6528 | xx[66] = xx[69] * motionData[256]; |
| 6529 | xx[68] = xx[69] * motionData[257]; |
| 6530 | xx[70] = xx[65] * motionData[256] + xx[67] * motionData[257]; |
| 6531 | xx[111] = xx[66]; |
| 6532 | xx[112] = xx[68]; |
| 6533 | xx[113] = - xx[70]; |
| 6534 | pm_math_cross3(xx + 83, xx + 111, xx + 114); |
| 6535 | xx[86] = 3.641162862673871e-8; |
| 6536 | xx[111] = xx[86] * xx[69]; |
| 6537 | xx[112] = 0.04575000000717538; |
| 6538 | xx[113] = xx[112] * xx[69]; |
| 6539 | xx[117] = xx[86] * xx[65] + xx[67] * xx[112]; |
| 6540 | xx[118] = xx[111]; |
| 6541 | xx[119] = xx[113]; |
| 6542 | xx[120] = - xx[117]; |
| 6543 | pm_math_cross3(xx + 83, xx + 118, xx + 121); |
| 6544 | xx[118] = xx[4] * (xx[121] + xx[111] * xx[57]); |
| 6545 | xx[111] = (xx[113] * xx[57] + xx[122]) * xx[4]; |
| 6546 | xx[113] = (xx[123] - xx[117] * xx[57]) * xx[4]; |
| 6547 | xx[119] = xx[4] * (xx[114] + xx[66] * xx[57]) + xx[118] - motionData[257] - |
| 6548 | xx[112]; |
| 6549 | xx[120] = motionData[256] + xx[4] * (xx[115] + xx[68] * xx[57]) + xx[111] + |
| 6550 | xx[86]; |
| 6551 | xx[121] = (xx[116] - xx[57] * xx[70]) * xx[4] + xx[113]; |
| 6552 | pm_math_quatXform(xx + 61, xx + 119, xx + 114); |
| 6553 | xx[119] = motionData[210]; |
| 6554 | xx[120] = motionData[211]; |
| 6555 | xx[121] = motionData[212]; |
| 6556 | xx[122] = motionData[213]; |
| 6557 | xx[66] = 3.980251340548381e-7; |
| 6558 | xx[68] = xx[56] * state[26] - xx[66] * state[23]; |
| 6559 | xx[70] = xx[56] * state[25] - xx[66] * state[24]; |
| 6560 | xx[117] = xx[66] * state[25] + xx[56] * state[24]; |
| 6561 | xx[123] = - xx[117]; |
| 6562 | xx[124] = xx[66] * state[26] + xx[56] * state[23]; |
| 6563 | xx[66] = - xx[124]; |
| 6564 | xx[125] = xx[68]; |
| 6565 | xx[126] = xx[70]; |
| 6566 | xx[127] = xx[123]; |
| 6567 | xx[128] = xx[66]; |
| 6568 | pm_math_quatCompose(xx + 119, xx + 125, xx + 129); |
| 6569 | xx[125] = motionData[245]; |
| 6570 | xx[126] = motionData[246]; |
| 6571 | xx[127] = motionData[247]; |
| 6572 | xx[128] = motionData[248]; |
| 6573 | pm_math_quatCompose(xx + 129, xx + 125, xx + 133); |
| 6574 | xx[125] = motionData[247] * motionData[247]; |
| 6575 | xx[126] = motionData[248] * motionData[248]; |
| 6576 | xx[127] = motionData[246] * motionData[247]; |
| 6577 | xx[128] = motionData[245] * motionData[248]; |
| 6578 | xx[137] = motionData[245] * motionData[247]; |
| 6579 | xx[138] = motionData[246] * motionData[248]; |
| 6580 | xx[139] = xx[5] - (xx[125] + xx[126]) * xx[4]; |
| 6581 | xx[140] = xx[4] * (xx[127] - xx[128]); |
| 6582 | xx[141] = (xx[137] + xx[138]) * xx[4]; |
| 6583 | pm_math_cross3(xx + 139, xx + 24, xx + 142); |
| 6584 | pm_math_quatXform(xx + 133, xx + 142, xx + 139); |
| 6585 | xx[142] = xx[70]; |
| 6586 | xx[143] = xx[123]; |
| 6587 | xx[144] = xx[66]; |
| 6588 | xx[66] = xx[117] * motionData[250]; |
| 6589 | xx[123] = xx[124] * motionData[251]; |
| 6590 | xx[145] = xx[66] + xx[123]; |
| 6591 | xx[146] = xx[70] * motionData[250]; |
| 6592 | xx[147] = xx[70] * motionData[251]; |
| 6593 | xx[148] = - xx[145]; |
| 6594 | xx[149] = - xx[146]; |
| 6595 | xx[150] = - xx[147]; |
| 6596 | pm_math_cross3(xx + 142, xx + 148, xx + 151); |
| 6597 | xx[148] = xx[117] * xx[8]; |
| 6598 | xx[149] = xx[124] * xx[19]; |
| 6599 | xx[150] = xx[148] - xx[149]; |
| 6600 | xx[154] = xx[8] * xx[70]; |
| 6601 | xx[155] = xx[19] * xx[70]; |
| 6602 | xx[156] = xx[150]; |
| 6603 | xx[157] = xx[154]; |
| 6604 | xx[158] = - xx[155]; |
| 6605 | pm_math_cross3(xx + 142, xx + 156, xx + 159); |
| 6606 | xx[156] = (xx[68] * xx[150] + xx[159]) * xx[4]; |
| 6607 | xx[150] = xx[4] * (xx[160] + xx[154] * xx[68]); |
| 6608 | xx[154] = (xx[161] - xx[155] * xx[68]) * xx[4]; |
| 6609 | xx[157] = xx[4] * (xx[151] - xx[145] * xx[68]) + xx[156]; |
| 6610 | xx[158] = xx[4] * (xx[152] - xx[146] * xx[68]) + xx[150] - motionData[251] - |
| 6611 | xx[19]; |
| 6612 | xx[159] = motionData[250] + xx[4] * (xx[153] - xx[147] * xx[68]) + xx[154] - |
| 6613 | xx[8]; |
| 6614 | pm_math_quatXform(xx + 119, xx + 157, xx + 145); |
| 6615 | xx[151] = motionData[246] * motionData[246]; |
| 6616 | xx[152] = motionData[247] * motionData[248]; |
| 6617 | xx[153] = motionData[245] * motionData[246]; |
| 6618 | xx[157] = (xx[128] + xx[127]) * xx[4]; |
| 6619 | xx[158] = xx[5] - (xx[126] + xx[151]) * xx[4]; |
| 6620 | xx[159] = xx[4] * (xx[152] - xx[153]); |
| 6621 | pm_math_cross3(xx + 157, xx + 24, xx + 126); |
| 6622 | pm_math_quatXform(xx + 133, xx + 126, xx + 157); |
| 6623 | xx[126] = xx[117] * motionData[249]; |
| 6624 | xx[127] = xx[70] * motionData[249]; |
| 6625 | xx[128] = xx[127] - xx[123]; |
| 6626 | xx[123] = xx[117] * motionData[251]; |
| 6627 | xx[160] = xx[126]; |
| 6628 | xx[161] = xx[128]; |
| 6629 | xx[162] = xx[123]; |
| 6630 | pm_math_cross3(xx + 142, xx + 160, xx + 163); |
| 6631 | xx[155] = xx[117] * xx[6]; |
| 6632 | xx[160] = xx[6] * xx[70]; |
| 6633 | xx[161] = xx[149] - xx[160]; |
| 6634 | xx[149] = xx[117] * xx[19]; |
| 6635 | xx[166] = xx[155]; |
| 6636 | xx[167] = - xx[161]; |
| 6637 | xx[168] = xx[149]; |
| 6638 | pm_math_cross3(xx + 142, xx + 166, xx + 169); |
| 6639 | xx[162] = xx[4] * (xx[169] + xx[155] * xx[68]); |
| 6640 | xx[155] = xx[4] * (xx[170] - xx[161] * xx[68]); |
| 6641 | xx[161] = (xx[149] * xx[68] + xx[171]) * xx[4]; |
| 6642 | xx[166] = motionData[251] + (xx[126] * xx[68] + xx[163]) * xx[4] + xx[162] + |
| 6643 | xx[19]; |
| 6644 | xx[167] = (xx[68] * xx[128] + xx[164]) * xx[4] + xx[155]; |
| 6645 | xx[168] = (xx[123] * xx[68] + xx[165]) * xx[4] + xx[161] - motionData[249] - |
| 6646 | xx[6]; |
| 6647 | pm_math_quatXform(xx + 119, xx + 166, xx + 163); |
| 6648 | xx[166] = xx[4] * (xx[138] - xx[137]); |
| 6649 | xx[167] = (xx[153] + xx[152]) * xx[4]; |
| 6650 | xx[168] = xx[5] - (xx[151] + xx[125]) * xx[4]; |
| 6651 | pm_math_cross3(xx + 166, xx + 24, xx + 151); |
| 6652 | pm_math_quatXform(xx + 133, xx + 151, xx + 166); |
| 6653 | xx[123] = xx[124] * motionData[249]; |
| 6654 | xx[125] = xx[124] * motionData[250]; |
| 6655 | xx[126] = xx[127] - xx[66]; |
| 6656 | xx[133] = xx[123]; |
| 6657 | xx[134] = xx[125]; |
| 6658 | xx[135] = xx[126]; |
| 6659 | pm_math_cross3(xx + 142, xx + 133, xx + 136); |
| 6660 | xx[66] = xx[124] * xx[6]; |
| 6661 | xx[127] = xx[124] * xx[8]; |
| 6662 | xx[128] = xx[160] + xx[148]; |
| 6663 | xx[133] = xx[66]; |
| 6664 | xx[134] = - xx[127]; |
| 6665 | xx[135] = xx[128]; |
| 6666 | pm_math_cross3(xx + 142, xx + 133, xx + 151); |
| 6667 | xx[133] = (xx[66] * xx[68] + xx[151]) * xx[4]; |
| 6668 | xx[66] = xx[4] * (xx[152] - xx[127] * xx[68]); |
| 6669 | xx[127] = (xx[128] * xx[68] + xx[153]) * xx[4]; |
| 6670 | xx[151] = (xx[123] * xx[68] + xx[136]) * xx[4] + xx[133] - motionData[250] + |
| 6671 | xx[8]; |
| 6672 | xx[152] = motionData[249] + (xx[125] * xx[68] + xx[137]) * xx[4] + xx[66] + |
| 6673 | xx[6]; |
| 6674 | xx[153] = (xx[68] * xx[126] + xx[138]) * xx[4] + xx[127]; |
| 6675 | pm_math_quatXform(xx + 119, xx + 151, xx + 134); |
| 6676 | xx[123] = xx[2] * state[30]; |
| 6677 | xx[125] = cos(xx[123]); |
| 6678 | xx[126] = sin(xx[123]); |
| 6679 | xx[169] = xx[125] * motionData[217] - xx[126] * motionData[220]; |
| 6680 | xx[170] = xx[125] * motionData[218] + xx[126] * motionData[219]; |
| 6681 | xx[171] = xx[125] * motionData[219] - xx[126] * motionData[218]; |
| 6682 | xx[172] = xx[126] * motionData[217] + xx[125] * motionData[220]; |
| 6683 | xx[173] = motionData[49]; |
| 6684 | xx[174] = motionData[50]; |
| 6685 | xx[175] = motionData[51]; |
| 6686 | xx[176] = motionData[52]; |
| 6687 | pm_math_quatCompose(xx + 169, xx + 173, xx + 177); |
| 6688 | xx[151] = xx[4] * (motionData[50] * motionData[52] - motionData[49] * |
| 6689 | motionData[51]); |
| 6690 | xx[152] = (motionData[49] * motionData[50] + motionData[51] * motionData[52]) * |
| 6691 | xx[4]; |
| 6692 | xx[153] = xx[5] - (motionData[50] * motionData[50] + motionData[51] * |
| 6693 | motionData[51]) * xx[4]; |
| 6694 | pm_math_cross3(xx + 151, xx + 24, xx + 173); |
| 6695 | pm_math_quatXform(xx + 177, xx + 173, xx + 151); |
| 6696 | xx[123] = xx[126] * motionData[54]; |
| 6697 | xx[128] = xx[126] * motionData[53]; |
| 6698 | xx[137] = 0.02540000000000185; |
| 6699 | xx[138] = xx[137] * xx[126]; |
| 6700 | xx[148] = xx[4] * xx[125] * xx[138]; |
| 6701 | xx[149] = xx[4] * (xx[123] * xx[126] - xx[125] * xx[128]) - motionData[54] + |
| 6702 | xx[148]; |
| 6703 | xx[173] = motionData[218]; |
| 6704 | xx[174] = motionData[219]; |
| 6705 | xx[175] = motionData[220]; |
| 6706 | xx[160] = xx[4] * xx[138] * xx[126]; |
| 6707 | xx[138] = motionData[53] - ((xx[125] * xx[123] + xx[128] * xx[126]) * xx[4] - |
| 6708 | xx[160]) - xx[137]; |
| 6709 | xx[123] = xx[138] * motionData[220]; |
| 6710 | xx[128] = xx[149] * motionData[220]; |
| 6711 | xx[176] = xx[138] * motionData[218] - xx[149] * motionData[219]; |
| 6712 | xx[177] = - xx[123]; |
| 6713 | xx[178] = xx[128]; |
| 6714 | xx[179] = xx[176]; |
| 6715 | pm_math_cross3(xx + 173, xx + 177, xx + 180); |
| 6716 | xx[177] = xx[2] * state[32]; |
| 6717 | xx[178] = cos(xx[177]); |
| 6718 | xx[179] = sin(xx[177]); |
| 6719 | xx[177] = xx[178] * motionData[225] - xx[179] * motionData[226]; |
| 6720 | xx[183] = xx[178] * motionData[226] + xx[179] * motionData[225]; |
| 6721 | xx[184] = xx[178] * motionData[227] - xx[179] * motionData[224]; |
| 6722 | xx[185] = xx[177]; |
| 6723 | xx[186] = xx[183]; |
| 6724 | xx[187] = xx[184]; |
| 6725 | xx[188] = xx[6] * xx[184]; |
| 6726 | xx[189] = xx[8] * xx[184]; |
| 6727 | xx[184] = xx[6] * xx[177] - xx[183] * xx[8]; |
| 6728 | xx[190] = - xx[188]; |
| 6729 | xx[191] = xx[189]; |
| 6730 | xx[192] = xx[184]; |
| 6731 | pm_math_cross3(xx + 185, xx + 190, xx + 193); |
| 6732 | xx[177] = xx[178] * motionData[224] + xx[179] * motionData[227]; |
| 6733 | xx[183] = 2.191920996097441e-12; |
| 6734 | xx[185] = xx[183] * xx[179]; |
| 6735 | xx[186] = 3.368449963403463e-13; |
| 6736 | xx[187] = xx[186] * xx[179]; |
| 6737 | xx[190] = xx[4] * (xx[185] * xx[179] - xx[178] * xx[187]) - xx[183]; |
| 6738 | xx[196] = motionData[225]; |
| 6739 | xx[197] = motionData[226]; |
| 6740 | xx[198] = motionData[227]; |
| 6741 | xx[183] = (xx[178] * xx[185] + xx[187] * xx[179]) * xx[4] - xx[186]; |
| 6742 | xx[178] = xx[183] * motionData[227]; |
| 6743 | xx[179] = xx[190] * motionData[227]; |
| 6744 | xx[185] = xx[183] * motionData[225] - xx[190] * motionData[226]; |
| 6745 | xx[199] = - xx[178]; |
| 6746 | xx[200] = xx[179]; |
| 6747 | xx[201] = xx[185]; |
| 6748 | pm_math_cross3(xx + 196, xx + 199, xx + 202); |
| 6749 | xx[186] = 0.389585375426561; |
| 6750 | xx[187] = xx[2] * state[64]; |
| 6751 | xx[191] = cos(xx[187]); |
| 6752 | xx[192] = 0.3895819001770367; |
| 6753 | xx[196] = sin(xx[187]); |
| 6754 | xx[187] = xx[186] * xx[191] - xx[192] * xx[196]; |
| 6755 | xx[197] = 0.5901074779979936; |
| 6756 | xx[198] = 0.5901036711621467; |
| 6757 | xx[199] = xx[197] * xx[191] + xx[198] * xx[196]; |
| 6758 | xx[200] = - xx[199]; |
| 6759 | xx[201] = xx[198] * xx[191] - xx[197] * xx[196]; |
| 6760 | xx[197] = xx[192] * xx[191] + xx[186] * xx[196]; |
| 6761 | xx[186] = - xx[197]; |
| 6762 | xx[205] = xx[187]; |
| 6763 | xx[206] = xx[200]; |
| 6764 | xx[207] = xx[201]; |
| 6765 | xx[208] = xx[186]; |
| 6766 | xx[209] = motionData[238]; |
| 6767 | xx[210] = motionData[239]; |
| 6768 | xx[211] = motionData[240]; |
| 6769 | xx[212] = motionData[241]; |
| 6770 | pm_math_quatCompose(xx + 205, xx + 209, xx + 213); |
| 6771 | xx[205] = xx[4] * (motionData[238] * motionData[240] - motionData[239] * |
| 6772 | motionData[241]); |
| 6773 | xx[206] = - ((motionData[238] * motionData[239] + motionData[240] * |
| 6774 | motionData[241]) * xx[4]); |
| 6775 | xx[207] = (motionData[239] * motionData[239] + motionData[240] * motionData |
| 6776 | [240]) * xx[4] - xx[5]; |
| 6777 | xx[191] = 3.641924106626229e-8; |
| 6778 | xx[192] = 0.04574999999998041; |
| 6779 | xx[196] = 2.92603149291605e-7; |
| 6780 | xx[208] = xx[191]; |
| 6781 | xx[209] = xx[192]; |
| 6782 | xx[210] = xx[196]; |
| 6783 | pm_math_cross3(xx + 205, xx + 208, xx + 217); |
| 6784 | pm_math_quatXform(xx + 213, xx + 217, xx + 205); |
| 6785 | xx[211] = xx[200]; |
| 6786 | xx[212] = xx[201]; |
| 6787 | xx[213] = xx[186]; |
| 6788 | xx[186] = xx[197] * motionData[242]; |
| 6789 | xx[198] = xx[197] * motionData[243]; |
| 6790 | xx[200] = xx[201] * motionData[243] - xx[199] * motionData[242]; |
| 6791 | xx[214] = - xx[186]; |
| 6792 | xx[215] = - xx[198]; |
| 6793 | xx[216] = - xx[200]; |
| 6794 | pm_math_cross3(xx + 211, xx + 214, xx + 217); |
| 6795 | xx[211] = xx[27] * xx[199]; |
| 6796 | xx[212] = xx[27] * xx[197]; |
| 6797 | xx[213] = xx[2] * state[66]; |
| 6798 | xx[214] = cos(xx[213]); |
| 6799 | xx[215] = sin(xx[213]); |
| 6800 | xx[220] = xx[214] * motionData[127] - xx[215] * motionData[128]; |
| 6801 | xx[221] = - (xx[214] * motionData[126] + xx[215] * motionData[129]); |
| 6802 | xx[222] = xx[215] * motionData[126] - xx[214] * motionData[129]; |
| 6803 | xx[223] = xx[215] * motionData[127] + xx[214] * motionData[128]; |
| 6804 | xx[224] = motionData[140]; |
| 6805 | xx[225] = motionData[141]; |
| 6806 | xx[226] = motionData[142]; |
| 6807 | xx[227] = motionData[143]; |
| 6808 | pm_math_quatCompose(xx + 220, xx + 224, xx + 228); |
| 6809 | xx[220] = xx[4] * (motionData[141] * motionData[143] - motionData[140] * |
| 6810 | motionData[142]); |
| 6811 | xx[221] = (motionData[140] * motionData[141] + motionData[142] * motionData |
| 6812 | [143]) * xx[4]; |
| 6813 | xx[222] = xx[5] - (motionData[141] * motionData[141] + motionData[142] * |
| 6814 | motionData[142]) * xx[4]; |
| 6815 | pm_math_cross3(xx + 220, xx + 208, xx + 223); |
| 6816 | pm_math_quatXform(xx + 228, xx + 223, xx + 220); |
| 6817 | xx[213] = xx[215] * motionData[145] - xx[214] * motionData[144]; |
| 6818 | xx[216] = 6.924287580811761e-12; |
| 6819 | xx[223] = 1.024070757638107e-11; |
| 6820 | xx[224] = xx[216] * xx[215] - xx[223] * xx[214]; |
| 6821 | xx[225] = xx[4] * xx[215] * xx[213] - (motionData[145] + xx[4] * xx[224] * xx |
| 6822 | [215]) + xx[216]; |
| 6823 | xx[226] = motionData[127]; |
| 6824 | xx[227] = motionData[128]; |
| 6825 | xx[228] = motionData[129]; |
| 6826 | xx[215] = motionData[144] + xx[4] * xx[214] * xx[213] - xx[4] * xx[224] * xx |
| 6827 | [214] - xx[223]; |
| 6828 | xx[213] = xx[215] * motionData[129]; |
| 6829 | xx[214] = xx[225] * motionData[129]; |
| 6830 | xx[216] = xx[215] * motionData[127] - xx[225] * motionData[128]; |
| 6831 | xx[229] = - xx[213]; |
| 6832 | xx[230] = xx[214]; |
| 6833 | xx[231] = xx[216]; |
| 6834 | pm_math_cross3(xx + 226, xx + 229, xx + 232); |
| 6835 | xx[226] = motionData[189]; |
| 6836 | xx[227] = motionData[190]; |
| 6837 | xx[228] = motionData[191]; |
| 6838 | xx[229] = motionData[192]; |
| 6839 | xx[223] = xx[55] * state[71] - xx[56] * state[68]; |
| 6840 | xx[224] = xx[55] * state[70] + xx[56] * state[69]; |
| 6841 | xx[230] = - xx[224]; |
| 6842 | xx[231] = xx[56] * state[70] - xx[55] * state[69]; |
| 6843 | xx[235] = - xx[231]; |
| 6844 | xx[236] = xx[55] * state[68] + xx[56] * state[71]; |
| 6845 | xx[237] = - xx[236]; |
| 6846 | xx[238] = xx[223]; |
| 6847 | xx[239] = xx[230]; |
| 6848 | xx[240] = xx[235]; |
| 6849 | xx[241] = xx[237]; |
| 6850 | pm_math_quatCompose(xx + 226, xx + 238, xx + 242); |
| 6851 | xx[246] = - 2.329268144978725e-13; |
| 6852 | xx[247] = xx[246]; |
| 6853 | xx[248] = - xx[196]; |
| 6854 | xx[249] = 0.0457500000000094; |
| 6855 | pm_math_quatXform(xx + 242, xx + 247, xx + 250); |
| 6856 | pm_math_quatXform(xx + 238, xx + 99, xx + 253); |
| 6857 | pm_math_quatXform(xx + 226, xx + 253, xx + 256); |
| 6858 | xx[253] = xx[196]; |
| 6859 | xx[254] = xx[246]; |
| 6860 | xx[255] = 5.855191459023036e-14; |
| 6861 | pm_math_quatXform(xx + 242, xx + 253, xx + 259); |
| 6862 | pm_math_quatXform(xx + 238, xx + 105, xx + 262); |
| 6863 | pm_math_quatXform(xx + 226, xx + 262, xx + 238); |
| 6864 | xx[196] = xx[191] * xx[245]; |
| 6865 | xx[241] = xx[191] * xx[243] + xx[192] * xx[244]; |
| 6866 | xx[262] = - xx[196]; |
| 6867 | xx[263] = - (xx[192] * xx[245]); |
| 6868 | xx[264] = xx[241]; |
| 6869 | pm_math_cross3(xx + 243, xx + 262, xx + 265); |
| 6870 | xx[262] = xx[230]; |
| 6871 | xx[263] = xx[235]; |
| 6872 | xx[264] = xx[237]; |
| 6873 | xx[230] = xx[86] * xx[236]; |
| 6874 | xx[235] = xx[112] * xx[236]; |
| 6875 | xx[236] = xx[86] * xx[224] + xx[231] * xx[112]; |
| 6876 | xx[268] = xx[230]; |
| 6877 | xx[269] = xx[235]; |
| 6878 | xx[270] = - xx[236]; |
| 6879 | pm_math_cross3(xx + 262, xx + 268, xx + 271); |
| 6880 | xx[262] = xx[4] * (xx[271] + xx[230] * xx[223]) - xx[112]; |
| 6881 | xx[263] = xx[86] + (xx[235] * xx[223] + xx[272]) * xx[4]; |
| 6882 | xx[264] = (xx[273] - xx[236] * xx[223]) * xx[4]; |
| 6883 | pm_math_quatXform(xx + 226, xx + 262, xx + 235); |
| 6884 | xx[223] = (xx[29] * xx[7] + xx[28] * xx[9]) * xx[4]; |
| 6885 | xx[224] = (xx[3] * xx[28] + xx[11] * xx[29]) * xx[4]; |
| 6886 | xx[226] = motionData[322]; |
| 6887 | xx[227] = motionData[323]; |
| 6888 | xx[228] = motionData[324]; |
| 6889 | xx[229] = motionData[325]; |
| 6890 | pm_math_quatCompose(xx + 12, xx + 226, xx + 268); |
| 6891 | xx[226] = xx[4] * (motionData[322] * motionData[324] - motionData[323] * |
| 6892 | motionData[325]); |
| 6893 | xx[227] = - ((motionData[322] * motionData[323] + motionData[324] * |
| 6894 | motionData[325]) * xx[4]); |
| 6895 | xx[228] = (motionData[323] * motionData[323] + motionData[324] * motionData |
| 6896 | [324]) * xx[4] - xx[5]; |
| 6897 | pm_math_cross3(xx + 226, xx + 24, xx + 229); |
| 6898 | pm_math_quatXform(xx + 268, xx + 229, xx + 226); |
| 6899 | xx[28] = xx[7] * motionData[326]; |
| 6900 | xx[29] = xx[7] * motionData[327]; |
| 6901 | xx[229] = xx[11] * motionData[327] - xx[9] * motionData[326]; |
| 6902 | xx[262] = - xx[28]; |
| 6903 | xx[263] = - xx[29]; |
| 6904 | xx[264] = - xx[229]; |
| 6905 | pm_math_cross3(xx + 20, xx + 262, xx + 268); |
| 6906 | xx[271] = motionData[315]; |
| 6907 | xx[272] = motionData[316]; |
| 6908 | xx[273] = motionData[317]; |
| 6909 | xx[274] = motionData[318]; |
| 6910 | pm_math_quatCompose(xx + 37, xx + 271, xx + 275); |
| 6911 | xx[262] = xx[4] * (motionData[316] * motionData[318] - motionData[315] * |
| 6912 | motionData[317]); |
| 6913 | xx[263] = (motionData[315] * motionData[316] + motionData[317] * motionData |
| 6914 | [318]) * xx[4]; |
| 6915 | xx[264] = xx[5] - (motionData[316] * motionData[316] + motionData[317] * |
| 6916 | motionData[317]) * xx[4]; |
| 6917 | pm_math_cross3(xx + 262, xx + 24, xx + 271); |
| 6918 | pm_math_quatXform(xx + 275, xx + 271, xx + 262); |
| 6919 | xx[230] = xx[36] * motionData[320] - xx[35] * motionData[319]; |
| 6920 | xx[231] = xx[4] * xx[36] * xx[230] - (motionData[320] + xx[47]) - xx[45]; |
| 6921 | xx[243] = motionData[319] + xx[4] * xx[35] * xx[230] - xx[52] + xx[44]; |
| 6922 | xx[230] = xx[243] * motionData[17]; |
| 6923 | xx[244] = xx[231] * motionData[17]; |
| 6924 | xx[246] = xx[243] * motionData[15] - xx[231] * motionData[16]; |
| 6925 | xx[271] = - xx[230]; |
| 6926 | xx[272] = xx[244]; |
| 6927 | xx[273] = xx[246]; |
| 6928 | pm_math_cross3(xx + 49, xx + 271, xx + 274); |
| 6929 | xx[277] = motionData[308]; |
| 6930 | xx[278] = motionData[309]; |
| 6931 | xx[279] = motionData[310]; |
| 6932 | xx[280] = motionData[311]; |
| 6933 | pm_math_quatCompose(xx + 75, xx + 277, xx + 281); |
| 6934 | xx[271] = motionData[309]; |
| 6935 | xx[272] = motionData[310]; |
| 6936 | xx[273] = motionData[311]; |
| 6937 | xx[277] = xx[82] * motionData[311]; |
| 6938 | xx[278] = xx[82] * motionData[309] + motionData[310]; |
| 6939 | xx[285] = xx[277]; |
| 6940 | xx[286] = motionData[311]; |
| 6941 | xx[287] = - xx[278]; |
| 6942 | pm_math_cross3(xx + 271, xx + 285, xx + 288); |
| 6943 | xx[279] = motionData[308] * motionData[311]; |
| 6944 | xx[285] = xx[5] + (xx[288] - xx[277] * motionData[308]) * xx[4]; |
| 6945 | xx[286] = xx[4] * (xx[289] - xx[279]) - xx[82]; |
| 6946 | xx[287] = xx[4] * (xx[290] + xx[278] * motionData[308]); |
| 6947 | pm_math_cross3(xx + 285, xx + 24, xx + 288); |
| 6948 | pm_math_quatXform(xx + 281, xx + 288, xx + 285); |
| 6949 | xx[278] = - (xx[82] * motionData[314]); |
| 6950 | xx[288] = xx[278]; |
| 6951 | xx[289] = - motionData[314]; |
| 6952 | xx[290] = motionData[313] + xx[82] * motionData[312]; |
| 6953 | pm_math_quatXform(xx + 71, xx + 288, xx + 291); |
| 6954 | xx[288] = xx[291] + xx[102]; |
| 6955 | xx[289] = xx[292] + xx[103]; |
| 6956 | xx[290] = xx[293] + xx[104]; |
| 6957 | pm_math_quatXform(xx + 61, xx + 288, xx + 291); |
| 6958 | xx[280] = motionData[309] - xx[82] * motionData[310]; |
| 6959 | xx[288] = - motionData[311]; |
| 6960 | xx[289] = xx[277]; |
| 6961 | xx[290] = xx[280]; |
| 6962 | pm_math_cross3(xx + 271, xx + 288, xx + 294); |
| 6963 | xx[271] = xx[82] + (xx[279] + xx[294]) * xx[4]; |
| 6964 | xx[272] = xx[5] + xx[4] * (xx[295] - xx[82] * xx[279]); |
| 6965 | xx[273] = xx[4] * (xx[296] - xx[280] * motionData[308]); |
| 6966 | pm_math_cross3(xx + 271, xx + 24, xx + 288); |
| 6967 | pm_math_quatXform(xx + 281, xx + 288, xx + 271); |
| 6968 | xx[288] = motionData[314]; |
| 6969 | xx[289] = xx[278]; |
| 6970 | xx[290] = xx[82] * motionData[313] - motionData[312]; |
| 6971 | pm_math_quatXform(xx + 71, xx + 288, xx + 277); |
| 6972 | xx[288] = xx[277] + xx[90]; |
| 6973 | xx[289] = xx[278] + xx[91]; |
| 6974 | xx[290] = xx[279] + xx[92]; |
| 6975 | pm_math_quatXform(xx + 61, xx + 288, xx + 277); |
| 6976 | xx[288] = xx[4] * (motionData[309] * motionData[311] - motionData[308] * |
| 6977 | motionData[310]); |
| 6978 | xx[289] = (motionData[308] * motionData[309] + motionData[310] * motionData |
| 6979 | [311]) * xx[4]; |
| 6980 | xx[290] = xx[5] - (motionData[309] * motionData[309] + motionData[310] * |
| 6981 | motionData[310]) * xx[4]; |
| 6982 | pm_math_cross3(xx + 288, xx + 24, xx + 294); |
| 6983 | pm_math_quatXform(xx + 281, xx + 294, xx + 288); |
| 6984 | xx[280] = xx[69] * motionData[312]; |
| 6985 | xx[281] = xx[69] * motionData[313]; |
| 6986 | xx[282] = xx[65] * motionData[312] + xx[67] * motionData[313]; |
| 6987 | xx[294] = xx[280]; |
| 6988 | xx[295] = xx[281]; |
| 6989 | xx[296] = - xx[282]; |
| 6990 | pm_math_cross3(xx + 83, xx + 294, xx + 297); |
| 6991 | xx[294] = xx[4] * (xx[297] + xx[280] * xx[57]) + xx[118] - motionData[313] - |
| 6992 | xx[112]; |
| 6993 | xx[295] = motionData[312] + xx[4] * (xx[298] + xx[281] * xx[57]) + xx[111] + |
| 6994 | xx[86]; |
| 6995 | xx[296] = (xx[299] - xx[282] * xx[57]) * xx[4] + xx[113]; |
| 6996 | pm_math_quatXform(xx + 61, xx + 294, xx + 280); |
| 6997 | xx[294] = motionData[301]; |
| 6998 | xx[295] = motionData[302]; |
| 6999 | xx[296] = motionData[303]; |
| 7000 | xx[297] = motionData[304]; |
| 7001 | pm_math_quatCompose(xx + 129, xx + 294, xx + 298); |
| 7002 | xx[283] = motionData[303] * motionData[303]; |
| 7003 | xx[284] = motionData[304] * motionData[304]; |
| 7004 | xx[294] = motionData[302] * motionData[303]; |
| 7005 | xx[295] = motionData[301] * motionData[304]; |
| 7006 | xx[296] = motionData[301] * motionData[303]; |
| 7007 | xx[297] = motionData[302] * motionData[304]; |
| 7008 | xx[302] = xx[5] - (xx[283] + xx[284]) * xx[4]; |
| 7009 | xx[303] = xx[4] * (xx[294] - xx[295]); |
| 7010 | xx[304] = (xx[296] + xx[297]) * xx[4]; |
| 7011 | pm_math_cross3(xx + 302, xx + 24, xx + 305); |
| 7012 | pm_math_quatXform(xx + 298, xx + 305, xx + 302); |
| 7013 | xx[305] = xx[117] * motionData[306]; |
| 7014 | xx[306] = xx[124] * motionData[307]; |
| 7015 | xx[307] = xx[305] + xx[306]; |
| 7016 | xx[308] = xx[70] * motionData[306]; |
| 7017 | xx[309] = xx[70] * motionData[307]; |
| 7018 | xx[310] = - xx[307]; |
| 7019 | xx[311] = - xx[308]; |
| 7020 | xx[312] = - xx[309]; |
| 7021 | pm_math_cross3(xx + 142, xx + 310, xx + 313); |
| 7022 | xx[310] = xx[4] * (xx[313] - xx[307] * xx[68]) + xx[156]; |
| 7023 | xx[311] = xx[4] * (xx[314] - xx[308] * xx[68]) + xx[150] - motionData[307] - |
| 7024 | xx[19]; |
| 7025 | xx[312] = motionData[306] + xx[4] * (xx[315] - xx[309] * xx[68]) + xx[154] - |
| 7026 | xx[8]; |
| 7027 | pm_math_quatXform(xx + 119, xx + 310, xx + 307); |
| 7028 | xx[310] = motionData[302] * motionData[302]; |
| 7029 | xx[311] = motionData[303] * motionData[304]; |
| 7030 | xx[312] = motionData[301] * motionData[302]; |
| 7031 | xx[313] = (xx[295] + xx[294]) * xx[4]; |
| 7032 | xx[314] = xx[5] - (xx[284] + xx[310]) * xx[4]; |
| 7033 | xx[315] = xx[4] * (xx[311] - xx[312]); |
| 7034 | pm_math_cross3(xx + 313, xx + 24, xx + 316); |
| 7035 | pm_math_quatXform(xx + 298, xx + 316, xx + 313); |
| 7036 | xx[284] = xx[117] * motionData[305]; |
| 7037 | xx[294] = xx[70] * motionData[305]; |
| 7038 | xx[295] = xx[294] - xx[306]; |
| 7039 | xx[306] = xx[117] * motionData[307]; |
| 7040 | xx[316] = xx[284]; |
| 7041 | xx[317] = xx[295]; |
| 7042 | xx[318] = xx[306]; |
| 7043 | pm_math_cross3(xx + 142, xx + 316, xx + 319); |
| 7044 | xx[316] = motionData[307] + (xx[284] * xx[68] + xx[319]) * xx[4] + xx[162] + |
| 7045 | xx[19]; |
| 7046 | xx[317] = (xx[295] * xx[68] + xx[320]) * xx[4] + xx[155]; |
| 7047 | xx[318] = (xx[306] * xx[68] + xx[321]) * xx[4] + xx[161] - motionData[305] - |
| 7048 | xx[6]; |
| 7049 | pm_math_quatXform(xx + 119, xx + 316, xx + 319); |
| 7050 | xx[316] = xx[4] * (xx[297] - xx[296]); |
| 7051 | xx[317] = (xx[312] + xx[311]) * xx[4]; |
| 7052 | xx[318] = xx[5] - (xx[310] + xx[283]) * xx[4]; |
| 7053 | pm_math_cross3(xx + 316, xx + 24, xx + 295); |
| 7054 | pm_math_quatXform(xx + 298, xx + 295, xx + 310); |
| 7055 | xx[283] = xx[124] * motionData[305]; |
| 7056 | xx[284] = xx[124] * motionData[306]; |
| 7057 | xx[295] = xx[294] - xx[305]; |
| 7058 | xx[296] = xx[283]; |
| 7059 | xx[297] = xx[284]; |
| 7060 | xx[298] = xx[295]; |
| 7061 | pm_math_cross3(xx + 142, xx + 296, xx + 299); |
| 7062 | xx[296] = (xx[283] * xx[68] + xx[299]) * xx[4] + xx[133] - motionData[306] + |
| 7063 | xx[8]; |
| 7064 | xx[297] = motionData[305] + (xx[284] * xx[68] + xx[300]) * xx[4] + xx[66] + |
| 7065 | xx[6]; |
| 7066 | xx[298] = (xx[295] * xx[68] + xx[301]) * xx[4] + xx[127]; |
| 7067 | pm_math_quatXform(xx + 119, xx + 296, xx + 299); |
| 7068 | xx[294] = motionData[56]; |
| 7069 | xx[295] = motionData[57]; |
| 7070 | xx[296] = motionData[58]; |
| 7071 | xx[297] = motionData[59]; |
| 7072 | pm_math_quatCompose(xx + 169, xx + 294, xx + 322); |
| 7073 | xx[294] = xx[4] * (motionData[57] * motionData[59] - motionData[56] * |
| 7074 | motionData[58]); |
| 7075 | xx[295] = (motionData[56] * motionData[57] + motionData[58] * motionData[59]) * |
| 7076 | xx[4]; |
| 7077 | xx[296] = xx[5] - (motionData[57] * motionData[57] + motionData[58] * |
| 7078 | motionData[58]) * xx[4]; |
| 7079 | pm_math_cross3(xx + 294, xx + 24, xx + 316); |
| 7080 | pm_math_quatXform(xx + 322, xx + 316, xx + 294); |
| 7081 | xx[283] = xx[126] * motionData[61]; |
| 7082 | xx[284] = xx[126] * motionData[60]; |
| 7083 | xx[297] = xx[4] * (xx[283] * xx[126] - xx[125] * xx[284]) - motionData[61] + |
| 7084 | xx[148]; |
| 7085 | xx[298] = motionData[60] - ((xx[125] * xx[283] + xx[284] * xx[126]) * xx[4] - |
| 7086 | xx[160]) - xx[137]; |
| 7087 | xx[283] = xx[298] * motionData[220]; |
| 7088 | xx[284] = xx[297] * motionData[220]; |
| 7089 | xx[305] = xx[298] * motionData[218] - xx[297] * motionData[219]; |
| 7090 | xx[316] = - xx[283]; |
| 7091 | xx[317] = xx[284]; |
| 7092 | xx[318] = xx[305]; |
| 7093 | pm_math_cross3(xx + 173, xx + 316, xx + 322); |
| 7094 | xx[325] = motionData[224]; |
| 7095 | xx[326] = motionData[225]; |
| 7096 | xx[327] = motionData[226]; |
| 7097 | xx[328] = motionData[227]; |
| 7098 | xx[306] = 0.6123724356957949; |
| 7099 | xx[316] = xx[2] * state[34]; |
| 7100 | xx[317] = sin(xx[316]); |
| 7101 | xx[318] = xx[306] * xx[317]; |
| 7102 | xx[329] = cos(xx[316]); |
| 7103 | xx[316] = xx[306] * xx[329]; |
| 7104 | xx[330] = xx[318] - xx[316]; |
| 7105 | xx[331] = 0.3535533905932732; |
| 7106 | xx[332] = xx[331] * xx[329]; |
| 7107 | xx[329] = xx[331] * xx[317]; |
| 7108 | xx[317] = xx[332] + xx[329]; |
| 7109 | xx[333] = - xx[317]; |
| 7110 | xx[334] = xx[329] - xx[332]; |
| 7111 | xx[329] = xx[318] + xx[316]; |
| 7112 | xx[316] = - xx[329]; |
| 7113 | xx[335] = xx[330]; |
| 7114 | xx[336] = xx[333]; |
| 7115 | xx[337] = xx[334]; |
| 7116 | xx[338] = xx[316]; |
| 7117 | pm_math_quatCompose(xx + 325, xx + 335, xx + 339); |
| 7118 | xx[318] = xx[6] * xx[342]; |
| 7119 | xx[332] = xx[8] * xx[341] - xx[6] * xx[340]; |
| 7120 | xx[335] = xx[318]; |
| 7121 | xx[336] = - (xx[8] * xx[342]); |
| 7122 | xx[337] = xx[332]; |
| 7123 | pm_math_cross3(xx + 340, xx + 335, xx + 343); |
| 7124 | xx[335] = xx[333]; |
| 7125 | xx[336] = xx[334]; |
| 7126 | xx[337] = xx[316]; |
| 7127 | xx[316] = 1.121202762681406e-11; |
| 7128 | xx[333] = xx[329] * xx[316]; |
| 7129 | xx[338] = 6.145027516349377e-13; |
| 7130 | xx[340] = xx[329] * xx[338]; |
| 7131 | xx[329] = xx[338] * xx[334] - xx[317] * xx[316]; |
| 7132 | xx[346] = xx[333]; |
| 7133 | xx[347] = xx[340]; |
| 7134 | xx[348] = xx[329]; |
| 7135 | pm_math_cross3(xx + 335, xx + 346, xx + 349); |
| 7136 | xx[334] = xx[4] * (xx[349] + xx[333] * xx[330]) - xx[338]; |
| 7137 | xx[335] = xx[316] + (xx[340] * xx[330] + xx[350]) * xx[4]; |
| 7138 | xx[336] = (xx[330] * xx[329] + xx[351]) * xx[4]; |
| 7139 | pm_math_quatXform(xx + 325, xx + 334, xx + 346); |
| 7140 | xx[316] = 0.04233709306330295; |
| 7141 | xx[317] = xx[2] * state[53]; |
| 7142 | xx[329] = cos(xx[317]); |
| 7143 | xx[330] = 0.04233598682685397; |
| 7144 | xx[333] = sin(xx[317]); |
| 7145 | xx[317] = xx[316] * xx[329] + xx[330] * xx[333]; |
| 7146 | xx[334] = 0.7058357201813958; |
| 7147 | xx[335] = 0.7058407546227096; |
| 7148 | xx[336] = xx[334] * xx[333] - xx[335] * xx[329]; |
| 7149 | xx[337] = xx[334] * xx[329] + xx[335] * xx[333]; |
| 7150 | xx[338] = xx[316] * xx[333] - xx[330] * xx[329]; |
| 7151 | xx[349] = xx[317]; |
| 7152 | xx[350] = xx[336]; |
| 7153 | xx[351] = xx[337]; |
| 7154 | xx[352] = xx[338]; |
| 7155 | xx[353] = motionData[294]; |
| 7156 | xx[354] = motionData[295]; |
| 7157 | xx[355] = motionData[296]; |
| 7158 | xx[356] = motionData[297]; |
| 7159 | pm_math_quatCompose(xx + 349, xx + 353, xx + 357); |
| 7160 | xx[349] = xx[4] * (motionData[295] * motionData[297] - motionData[294] * |
| 7161 | motionData[296]); |
| 7162 | xx[350] = (motionData[294] * motionData[295] + motionData[296] * motionData |
| 7163 | [297]) * xx[4]; |
| 7164 | xx[351] = xx[5] - (motionData[295] * motionData[295] + motionData[296] * |
| 7165 | motionData[296]) * xx[4]; |
| 7166 | pm_math_cross3(xx + 349, xx + 208, xx + 352); |
| 7167 | pm_math_quatXform(xx + 357, xx + 352, xx + 349); |
| 7168 | xx[329] = xx[338] * motionData[298]; |
| 7169 | xx[333] = xx[338] * motionData[299]; |
| 7170 | xx[340] = xx[336] * motionData[298] + xx[337] * motionData[299]; |
| 7171 | xx[352] = - xx[329]; |
| 7172 | xx[353] = - xx[333]; |
| 7173 | xx[354] = xx[340]; |
| 7174 | pm_math_cross3(xx + 336, xx + 352, xx + 355); |
| 7175 | xx[341] = 0.02520954632904374; |
| 7176 | xx[352] = xx[336] * xx[341]; |
| 7177 | xx[353] = xx[338] * xx[341]; |
| 7178 | xx[354] = xx[2] * state[55]; |
| 7179 | xx[358] = cos(xx[354]); |
| 7180 | xx[359] = sin(xx[354]); |
| 7181 | xx[360] = xx[358] * motionData[106] - xx[359] * motionData[107]; |
| 7182 | xx[361] = - (xx[358] * motionData[105] + xx[359] * motionData[108]); |
| 7183 | xx[362] = xx[359] * motionData[105] - xx[358] * motionData[108]; |
| 7184 | xx[363] = xx[359] * motionData[106] + xx[358] * motionData[107]; |
| 7185 | xx[364] = motionData[119]; |
| 7186 | xx[365] = motionData[120]; |
| 7187 | xx[366] = motionData[121]; |
| 7188 | xx[367] = motionData[122]; |
| 7189 | pm_math_quatCompose(xx + 360, xx + 364, xx + 368); |
| 7190 | xx[360] = xx[4] * (motionData[120] * motionData[122] - motionData[119] * |
| 7191 | motionData[121]); |
| 7192 | xx[361] = (motionData[119] * motionData[120] + motionData[121] * motionData |
| 7193 | [122]) * xx[4]; |
| 7194 | xx[362] = xx[5] - (motionData[120] * motionData[120] + motionData[121] * |
| 7195 | motionData[121]) * xx[4]; |
| 7196 | pm_math_cross3(xx + 360, xx + 208, xx + 363); |
| 7197 | pm_math_quatXform(xx + 368, xx + 363, xx + 360); |
| 7198 | xx[354] = xx[359] * motionData[124] - xx[358] * motionData[123]; |
| 7199 | xx[363] = 9.27756931389703e-12; |
| 7200 | xx[364] = 5.443558296964576e-12; |
| 7201 | xx[365] = xx[363] * xx[358] + xx[364] * xx[359]; |
| 7202 | xx[366] = xx[4] * xx[359] * xx[354] - (motionData[124] + xx[4] * xx[365] * xx |
| 7203 | [359]) + xx[364]; |
| 7204 | xx[367] = motionData[106]; |
| 7205 | xx[368] = motionData[107]; |
| 7206 | xx[369] = motionData[108]; |
| 7207 | xx[359] = motionData[123] + xx[4] * xx[358] * xx[354] - xx[4] * xx[365] * xx |
| 7208 | [358] + xx[363]; |
| 7209 | xx[354] = xx[359] * motionData[108]; |
| 7210 | xx[358] = xx[366] * motionData[108]; |
| 7211 | xx[363] = xx[359] * motionData[106] - xx[366] * motionData[107]; |
| 7212 | xx[370] = - xx[354]; |
| 7213 | xx[371] = xx[358]; |
| 7214 | xx[372] = xx[363]; |
| 7215 | pm_math_cross3(xx + 367, xx + 370, xx + 373); |
| 7216 | xx[367] = motionData[273]; |
| 7217 | xx[368] = motionData[274]; |
| 7218 | xx[369] = motionData[275]; |
| 7219 | xx[370] = motionData[276]; |
| 7220 | xx[364] = xx[55] * state[60] - xx[56] * state[57]; |
| 7221 | xx[365] = xx[55] * state[59] + xx[56] * state[58]; |
| 7222 | xx[371] = - xx[365]; |
| 7223 | xx[372] = xx[56] * state[59] - xx[55] * state[58]; |
| 7224 | xx[376] = - xx[372]; |
| 7225 | xx[377] = xx[55] * state[57] + xx[56] * state[60]; |
| 7226 | xx[378] = - xx[377]; |
| 7227 | xx[379] = xx[364]; |
| 7228 | xx[380] = xx[371]; |
| 7229 | xx[381] = xx[376]; |
| 7230 | xx[382] = xx[378]; |
| 7231 | pm_math_quatCompose(xx + 367, xx + 379, xx + 383); |
| 7232 | pm_math_quatXform(xx + 383, xx + 247, xx + 387); |
| 7233 | pm_math_quatXform(xx + 379, xx + 99, xx + 390); |
| 7234 | pm_math_quatXform(xx + 367, xx + 390, xx + 393); |
| 7235 | pm_math_quatXform(xx + 383, xx + 253, xx + 390); |
| 7236 | pm_math_quatXform(xx + 379, xx + 105, xx + 396); |
| 7237 | pm_math_quatXform(xx + 367, xx + 396, xx + 379); |
| 7238 | xx[382] = xx[191] * xx[386]; |
| 7239 | xx[396] = xx[191] * xx[384] + xx[192] * xx[385]; |
| 7240 | xx[397] = - xx[382]; |
| 7241 | xx[398] = - (xx[192] * xx[386]); |
| 7242 | xx[399] = xx[396]; |
| 7243 | pm_math_cross3(xx + 384, xx + 397, xx + 400); |
| 7244 | xx[397] = xx[371]; |
| 7245 | xx[398] = xx[376]; |
| 7246 | xx[399] = xx[378]; |
| 7247 | xx[371] = xx[86] * xx[377]; |
| 7248 | xx[376] = xx[112] * xx[377]; |
| 7249 | xx[377] = xx[86] * xx[365] + xx[372] * xx[112]; |
| 7250 | xx[403] = xx[371]; |
| 7251 | xx[404] = xx[376]; |
| 7252 | xx[405] = - xx[377]; |
| 7253 | pm_math_cross3(xx + 397, xx + 403, xx + 406); |
| 7254 | xx[397] = xx[4] * (xx[406] + xx[371] * xx[364]) - xx[112]; |
| 7255 | xx[398] = xx[86] + (xx[376] * xx[364] + xx[407]) * xx[4]; |
| 7256 | xx[399] = (xx[408] - xx[377] * xx[364]) * xx[4]; |
| 7257 | pm_math_quatXform(xx + 367, xx + 397, xx + 376); |
| 7258 | xx[367] = motionData[378]; |
| 7259 | xx[368] = motionData[379]; |
| 7260 | xx[369] = motionData[380]; |
| 7261 | xx[370] = motionData[381]; |
| 7262 | pm_math_quatCompose(xx + 12, xx + 367, xx + 403); |
| 7263 | xx[367] = xx[4] * (motionData[378] * motionData[380] - motionData[379] * |
| 7264 | motionData[381]); |
| 7265 | xx[368] = - ((motionData[378] * motionData[379] + motionData[380] * |
| 7266 | motionData[381]) * xx[4]); |
| 7267 | xx[369] = (motionData[379] * motionData[379] + motionData[380] * motionData |
| 7268 | [380]) * xx[4] - xx[5]; |
| 7269 | pm_math_cross3(xx + 367, xx + 24, xx + 370); |
| 7270 | pm_math_quatXform(xx + 403, xx + 370, xx + 367); |
| 7271 | xx[364] = xx[7] * motionData[382]; |
| 7272 | xx[365] = xx[7] * motionData[383]; |
| 7273 | xx[370] = xx[11] * motionData[383] - xx[9] * motionData[382]; |
| 7274 | xx[397] = - xx[364]; |
| 7275 | xx[398] = - xx[365]; |
| 7276 | xx[399] = - xx[370]; |
| 7277 | pm_math_cross3(xx + 20, xx + 397, xx + 403); |
| 7278 | xx[406] = motionData[371]; |
| 7279 | xx[407] = motionData[372]; |
| 7280 | xx[408] = motionData[373]; |
| 7281 | xx[409] = motionData[374]; |
| 7282 | pm_math_quatCompose(xx + 37, xx + 406, xx + 410); |
| 7283 | xx[397] = xx[4] * (motionData[372] * motionData[374] - motionData[371] * |
| 7284 | motionData[373]); |
| 7285 | xx[398] = (motionData[371] * motionData[372] + motionData[373] * motionData |
| 7286 | [374]) * xx[4]; |
| 7287 | xx[399] = xx[5] - (motionData[372] * motionData[372] + motionData[373] * |
| 7288 | motionData[373]) * xx[4]; |
| 7289 | pm_math_cross3(xx + 397, xx + 24, xx + 406); |
| 7290 | pm_math_quatXform(xx + 410, xx + 406, xx + 397); |
| 7291 | xx[371] = xx[36] * motionData[376] - xx[35] * motionData[375]; |
| 7292 | xx[372] = xx[4] * xx[36] * xx[371] - (motionData[376] + xx[47]) - xx[45]; |
| 7293 | xx[384] = motionData[375] + xx[4] * xx[35] * xx[371] - xx[52] + xx[44]; |
| 7294 | xx[371] = xx[384] * motionData[17]; |
| 7295 | xx[385] = xx[372] * motionData[17]; |
| 7296 | xx[406] = xx[384] * motionData[15] - xx[372] * motionData[16]; |
| 7297 | xx[407] = - xx[371]; |
| 7298 | xx[408] = xx[385]; |
| 7299 | xx[409] = xx[406]; |
| 7300 | pm_math_cross3(xx + 49, xx + 407, xx + 410); |
| 7301 | xx[413] = motionData[364]; |
| 7302 | xx[414] = motionData[365]; |
| 7303 | xx[415] = motionData[366]; |
| 7304 | xx[416] = motionData[367]; |
| 7305 | pm_math_quatCompose(xx + 75, xx + 413, xx + 417); |
| 7306 | xx[407] = motionData[365]; |
| 7307 | xx[408] = motionData[366]; |
| 7308 | xx[409] = motionData[367]; |
| 7309 | xx[413] = xx[82] * motionData[367]; |
| 7310 | xx[414] = xx[82] * motionData[365] + motionData[366]; |
| 7311 | xx[421] = xx[413]; |
| 7312 | xx[422] = motionData[367]; |
| 7313 | xx[423] = - xx[414]; |
| 7314 | pm_math_cross3(xx + 407, xx + 421, xx + 424); |
| 7315 | xx[415] = motionData[364] * motionData[367]; |
| 7316 | xx[421] = xx[5] + (xx[424] - xx[413] * motionData[364]) * xx[4]; |
| 7317 | xx[422] = xx[4] * (xx[425] - xx[415]) - xx[82]; |
| 7318 | xx[423] = xx[4] * (xx[426] + xx[414] * motionData[364]); |
| 7319 | pm_math_cross3(xx + 421, xx + 24, xx + 424); |
| 7320 | pm_math_quatXform(xx + 417, xx + 424, xx + 421); |
| 7321 | xx[414] = - (xx[82] * motionData[370]); |
| 7322 | xx[424] = xx[414]; |
| 7323 | xx[425] = - motionData[370]; |
| 7324 | xx[426] = motionData[369] + xx[82] * motionData[368]; |
| 7325 | pm_math_quatXform(xx + 71, xx + 424, xx + 427); |
| 7326 | xx[424] = xx[427] + xx[102]; |
| 7327 | xx[425] = xx[428] + xx[103]; |
| 7328 | xx[426] = xx[429] + xx[104]; |
| 7329 | pm_math_quatXform(xx + 61, xx + 424, xx + 427); |
| 7330 | xx[416] = motionData[365] - xx[82] * motionData[366]; |
| 7331 | xx[424] = - motionData[367]; |
| 7332 | xx[425] = xx[413]; |
| 7333 | xx[426] = xx[416]; |
| 7334 | pm_math_cross3(xx + 407, xx + 424, xx + 430); |
| 7335 | xx[407] = xx[82] + (xx[415] + xx[430]) * xx[4]; |
| 7336 | xx[408] = xx[5] + xx[4] * (xx[431] - xx[82] * xx[415]); |
| 7337 | xx[409] = xx[4] * (xx[432] - xx[416] * motionData[364]); |
| 7338 | pm_math_cross3(xx + 407, xx + 24, xx + 424); |
| 7339 | pm_math_quatXform(xx + 417, xx + 424, xx + 407); |
| 7340 | xx[424] = motionData[370]; |
| 7341 | xx[425] = xx[414]; |
| 7342 | xx[426] = xx[82] * motionData[369] - motionData[368]; |
| 7343 | pm_math_quatXform(xx + 71, xx + 424, xx + 413); |
| 7344 | xx[424] = xx[413] + xx[90]; |
| 7345 | xx[425] = xx[414] + xx[91]; |
| 7346 | xx[426] = xx[415] + xx[92]; |
| 7347 | pm_math_quatXform(xx + 61, xx + 424, xx + 413); |
| 7348 | xx[424] = xx[4] * (motionData[365] * motionData[367] - motionData[364] * |
| 7349 | motionData[366]); |
| 7350 | xx[425] = (motionData[364] * motionData[365] + motionData[366] * motionData |
| 7351 | [367]) * xx[4]; |
| 7352 | xx[426] = xx[5] - (motionData[365] * motionData[365] + motionData[366] * |
| 7353 | motionData[366]) * xx[4]; |
| 7354 | pm_math_cross3(xx + 424, xx + 24, xx + 430); |
| 7355 | pm_math_quatXform(xx + 417, xx + 430, xx + 424); |
| 7356 | xx[416] = xx[69] * motionData[368]; |
| 7357 | xx[417] = xx[69] * motionData[369]; |
| 7358 | xx[418] = xx[65] * motionData[368] + xx[67] * motionData[369]; |
| 7359 | xx[430] = xx[416]; |
| 7360 | xx[431] = xx[417]; |
| 7361 | xx[432] = - xx[418]; |
| 7362 | pm_math_cross3(xx + 83, xx + 430, xx + 433); |
| 7363 | xx[430] = xx[4] * (xx[433] + xx[416] * xx[57]) + xx[118] - motionData[369] - |
| 7364 | xx[112]; |
| 7365 | xx[431] = motionData[368] + xx[4] * (xx[434] + xx[417] * xx[57]) + xx[111] + |
| 7366 | xx[86]; |
| 7367 | xx[432] = (xx[435] - xx[418] * xx[57]) * xx[4] + xx[113]; |
| 7368 | pm_math_quatXform(xx + 61, xx + 430, xx + 416); |
| 7369 | xx[430] = motionData[357]; |
| 7370 | xx[431] = motionData[358]; |
| 7371 | xx[432] = motionData[359]; |
| 7372 | xx[433] = motionData[360]; |
| 7373 | pm_math_quatCompose(xx + 129, xx + 430, xx + 434); |
| 7374 | xx[419] = motionData[359] * motionData[359]; |
| 7375 | xx[420] = motionData[360] * motionData[360]; |
| 7376 | xx[430] = motionData[358] * motionData[359]; |
| 7377 | xx[431] = motionData[357] * motionData[360]; |
| 7378 | xx[432] = motionData[357] * motionData[359]; |
| 7379 | xx[433] = motionData[358] * motionData[360]; |
| 7380 | xx[438] = xx[5] - (xx[419] + xx[420]) * xx[4]; |
| 7381 | xx[439] = xx[4] * (xx[430] - xx[431]); |
| 7382 | xx[440] = (xx[432] + xx[433]) * xx[4]; |
| 7383 | pm_math_cross3(xx + 438, xx + 24, xx + 441); |
| 7384 | pm_math_quatXform(xx + 434, xx + 441, xx + 438); |
| 7385 | xx[441] = xx[117] * motionData[362]; |
| 7386 | xx[442] = xx[124] * motionData[363]; |
| 7387 | xx[443] = xx[441] + xx[442]; |
| 7388 | xx[444] = xx[70] * motionData[362]; |
| 7389 | xx[445] = xx[70] * motionData[363]; |
| 7390 | xx[446] = - xx[443]; |
| 7391 | xx[447] = - xx[444]; |
| 7392 | xx[448] = - xx[445]; |
| 7393 | pm_math_cross3(xx + 142, xx + 446, xx + 449); |
| 7394 | xx[446] = xx[4] * (xx[449] - xx[443] * xx[68]) + xx[156]; |
| 7395 | xx[447] = xx[4] * (xx[450] - xx[444] * xx[68]) + xx[150] - motionData[363] - |
| 7396 | xx[19]; |
| 7397 | xx[448] = motionData[362] + xx[4] * (xx[451] - xx[445] * xx[68]) + xx[154] - |
| 7398 | xx[8]; |
| 7399 | pm_math_quatXform(xx + 119, xx + 446, xx + 443); |
| 7400 | xx[446] = motionData[358] * motionData[358]; |
| 7401 | xx[447] = motionData[359] * motionData[360]; |
| 7402 | xx[448] = motionData[357] * motionData[358]; |
| 7403 | xx[449] = (xx[431] + xx[430]) * xx[4]; |
| 7404 | xx[450] = xx[5] - (xx[420] + xx[446]) * xx[4]; |
| 7405 | xx[451] = xx[4] * (xx[447] - xx[448]); |
| 7406 | pm_math_cross3(xx + 449, xx + 24, xx + 452); |
| 7407 | pm_math_quatXform(xx + 434, xx + 452, xx + 449); |
| 7408 | xx[420] = xx[117] * motionData[361]; |
| 7409 | xx[430] = xx[70] * motionData[361]; |
| 7410 | xx[431] = xx[430] - xx[442]; |
| 7411 | xx[442] = xx[117] * motionData[363]; |
| 7412 | xx[452] = xx[420]; |
| 7413 | xx[453] = xx[431]; |
| 7414 | xx[454] = xx[442]; |
| 7415 | pm_math_cross3(xx + 142, xx + 452, xx + 455); |
| 7416 | xx[452] = motionData[363] + (xx[420] * xx[68] + xx[455]) * xx[4] + xx[162] + |
| 7417 | xx[19]; |
| 7418 | xx[453] = (xx[431] * xx[68] + xx[456]) * xx[4] + xx[155]; |
| 7419 | xx[454] = (xx[442] * xx[68] + xx[457]) * xx[4] + xx[161] - motionData[361] - |
| 7420 | xx[6]; |
| 7421 | pm_math_quatXform(xx + 119, xx + 452, xx + 455); |
| 7422 | xx[452] = xx[4] * (xx[433] - xx[432]); |
| 7423 | xx[453] = (xx[448] + xx[447]) * xx[4]; |
| 7424 | xx[454] = xx[5] - (xx[446] + xx[419]) * xx[4]; |
| 7425 | pm_math_cross3(xx + 452, xx + 24, xx + 431); |
| 7426 | pm_math_quatXform(xx + 434, xx + 431, xx + 446); |
| 7427 | xx[419] = xx[124] * motionData[361]; |
| 7428 | xx[420] = xx[124] * motionData[362]; |
| 7429 | xx[431] = xx[430] - xx[441]; |
| 7430 | xx[432] = xx[419]; |
| 7431 | xx[433] = xx[420]; |
| 7432 | xx[434] = xx[431]; |
| 7433 | pm_math_cross3(xx + 142, xx + 432, xx + 435); |
| 7434 | xx[432] = (xx[419] * xx[68] + xx[435]) * xx[4] + xx[133] - motionData[362] + |
| 7435 | xx[8]; |
| 7436 | xx[433] = motionData[361] + (xx[420] * xx[68] + xx[436]) * xx[4] + xx[66] + |
| 7437 | xx[6]; |
| 7438 | xx[434] = (xx[431] * xx[68] + xx[437]) * xx[4] + xx[127]; |
| 7439 | pm_math_quatXform(xx + 119, xx + 432, xx + 435); |
| 7440 | xx[430] = motionData[63]; |
| 7441 | xx[431] = motionData[64]; |
| 7442 | xx[432] = motionData[65]; |
| 7443 | xx[433] = motionData[66]; |
| 7444 | pm_math_quatCompose(xx + 169, xx + 430, xx + 458); |
| 7445 | xx[430] = xx[4] * (motionData[64] * motionData[66] - motionData[63] * |
| 7446 | motionData[65]); |
| 7447 | xx[431] = (motionData[63] * motionData[64] + motionData[65] * motionData[66]) * |
| 7448 | xx[4]; |
| 7449 | xx[432] = xx[5] - (motionData[64] * motionData[64] + motionData[65] * |
| 7450 | motionData[65]) * xx[4]; |
| 7451 | pm_math_cross3(xx + 430, xx + 24, xx + 452); |
| 7452 | pm_math_quatXform(xx + 458, xx + 452, xx + 430); |
| 7453 | xx[419] = xx[126] * motionData[68]; |
| 7454 | xx[420] = xx[126] * motionData[67]; |
| 7455 | xx[433] = xx[4] * (xx[419] * xx[126] - xx[125] * xx[420]) - motionData[68] + |
| 7456 | xx[148]; |
| 7457 | xx[434] = motionData[67] - ((xx[125] * xx[419] + xx[420] * xx[126]) * xx[4] - |
| 7458 | xx[160]) - xx[137]; |
| 7459 | xx[419] = xx[434] * motionData[220]; |
| 7460 | xx[420] = xx[433] * motionData[220]; |
| 7461 | xx[441] = xx[434] * motionData[218] - xx[433] * motionData[219]; |
| 7462 | xx[452] = - xx[419]; |
| 7463 | xx[453] = xx[420]; |
| 7464 | xx[454] = xx[441]; |
| 7465 | pm_math_cross3(xx + 173, xx + 452, xx + 458); |
| 7466 | xx[442] = 0.3535533905932758; |
| 7467 | xx[452] = xx[2] * state[36]; |
| 7468 | xx[453] = cos(xx[452]); |
| 7469 | xx[454] = xx[442] * xx[453]; |
| 7470 | xx[461] = sin(xx[452]); |
| 7471 | xx[452] = xx[442] * xx[461]; |
| 7472 | xx[462] = xx[454] + xx[452]; |
| 7473 | xx[463] = 0.6123724356957934; |
| 7474 | xx[464] = xx[463] * xx[461]; |
| 7475 | xx[461] = xx[463] * xx[453]; |
| 7476 | xx[453] = xx[464] - xx[461]; |
| 7477 | xx[465] = xx[461] + xx[464]; |
| 7478 | xx[461] = - xx[465]; |
| 7479 | xx[464] = xx[452] - xx[454]; |
| 7480 | xx[466] = - xx[462]; |
| 7481 | xx[467] = xx[453]; |
| 7482 | xx[468] = xx[461]; |
| 7483 | xx[469] = xx[464]; |
| 7484 | pm_math_quatCompose(xx + 325, xx + 466, xx + 470); |
| 7485 | xx[452] = xx[6] * xx[473]; |
| 7486 | xx[454] = xx[6] * xx[471] - xx[8] * xx[472]; |
| 7487 | xx[466] = - xx[452]; |
| 7488 | xx[467] = xx[8] * xx[473]; |
| 7489 | xx[468] = xx[454]; |
| 7490 | pm_math_cross3(xx + 471, xx + 466, xx + 474); |
| 7491 | xx[466] = 3.80025733104361e-12; |
| 7492 | xx[467] = xx[453]; |
| 7493 | xx[468] = xx[461]; |
| 7494 | xx[469] = xx[464]; |
| 7495 | xx[461] = 3.881762117297072e-12; |
| 7496 | xx[471] = xx[461] * xx[464]; |
| 7497 | xx[472] = xx[466] * xx[464]; |
| 7498 | xx[464] = xx[461] * xx[453] + xx[465] * xx[466]; |
| 7499 | xx[477] = - xx[471]; |
| 7500 | xx[478] = xx[472]; |
| 7501 | xx[479] = xx[464]; |
| 7502 | pm_math_cross3(xx + 467, xx + 477, xx + 480); |
| 7503 | xx[467] = xx[466] + xx[4] * (xx[480] + xx[462] * xx[471]); |
| 7504 | xx[468] = xx[461] + (xx[481] - xx[462] * xx[472]) * xx[4]; |
| 7505 | xx[469] = (xx[482] - xx[462] * xx[464]) * xx[4]; |
| 7506 | pm_math_quatXform(xx + 325, xx + 467, xx + 464); |
| 7507 | xx[453] = 0.3162553791961485; |
| 7508 | xx[461] = xx[2] * state[75]; |
| 7509 | xx[462] = cos(xx[461]); |
| 7510 | xx[467] = 0.3162538200043588; |
| 7511 | xx[468] = sin(xx[461]); |
| 7512 | xx[461] = xx[453] * xx[462] - xx[467] * xx[468]; |
| 7513 | xx[469] = 0.6324445710612965; |
| 7514 | xx[471] = 0.6324396579890005; |
| 7515 | xx[472] = xx[469] * xx[462] + xx[471] * xx[468]; |
| 7516 | xx[477] = xx[469] * xx[468] - xx[471] * xx[462]; |
| 7517 | xx[469] = xx[467] * xx[462] + xx[453] * xx[468]; |
| 7518 | xx[453] = - xx[469]; |
| 7519 | xx[478] = xx[461]; |
| 7520 | xx[479] = xx[472]; |
| 7521 | xx[480] = xx[477]; |
| 7522 | xx[481] = xx[453]; |
| 7523 | xx[482] = motionData[350]; |
| 7524 | xx[483] = motionData[351]; |
| 7525 | xx[484] = motionData[352]; |
| 7526 | xx[485] = motionData[353]; |
| 7527 | pm_math_quatCompose(xx + 478, xx + 482, xx + 486); |
| 7528 | xx[478] = xx[4] * (motionData[350] * motionData[352] - motionData[351] * |
| 7529 | motionData[353]); |
| 7530 | xx[479] = - ((motionData[350] * motionData[351] + motionData[352] * |
| 7531 | motionData[353]) * xx[4]); |
| 7532 | xx[480] = (motionData[351] * motionData[351] + motionData[352] * motionData |
| 7533 | [352]) * xx[4] - xx[5]; |
| 7534 | pm_math_cross3(xx + 478, xx + 208, xx + 481); |
| 7535 | pm_math_quatXform(xx + 486, xx + 481, xx + 478); |
| 7536 | xx[481] = xx[472]; |
| 7537 | xx[482] = xx[477]; |
| 7538 | xx[483] = xx[453]; |
| 7539 | xx[453] = xx[469] * motionData[354]; |
| 7540 | xx[462] = xx[469] * motionData[355]; |
| 7541 | xx[467] = xx[472] * motionData[354] + xx[477] * motionData[355]; |
| 7542 | xx[484] = - xx[453]; |
| 7543 | xx[485] = - xx[462]; |
| 7544 | xx[486] = - xx[467]; |
| 7545 | pm_math_cross3(xx + 481, xx + 484, xx + 487); |
| 7546 | xx[468] = xx[27] * xx[472]; |
| 7547 | xx[471] = xx[27] * xx[469]; |
| 7548 | xx[481] = xx[2] * state[77]; |
| 7549 | xx[482] = cos(xx[481]); |
| 7550 | xx[483] = sin(xx[481]); |
| 7551 | xx[490] = xx[482] * motionData[148] - xx[483] * motionData[149]; |
| 7552 | xx[491] = - (xx[482] * motionData[147] + xx[483] * motionData[150]); |
| 7553 | xx[492] = xx[483] * motionData[147] - xx[482] * motionData[150]; |
| 7554 | xx[493] = xx[483] * motionData[148] + xx[482] * motionData[149]; |
| 7555 | xx[494] = motionData[161]; |
| 7556 | xx[495] = motionData[162]; |
| 7557 | xx[496] = motionData[163]; |
| 7558 | xx[497] = motionData[164]; |
| 7559 | pm_math_quatCompose(xx + 490, xx + 494, xx + 498); |
| 7560 | xx[484] = xx[4] * (motionData[162] * motionData[164] - motionData[161] * |
| 7561 | motionData[163]); |
| 7562 | xx[485] = (motionData[161] * motionData[162] + motionData[163] * motionData |
| 7563 | [164]) * xx[4]; |
| 7564 | xx[486] = xx[5] - (motionData[162] * motionData[162] + motionData[163] * |
| 7565 | motionData[163]) * xx[4]; |
| 7566 | pm_math_cross3(xx + 484, xx + 208, xx + 490); |
| 7567 | pm_math_quatXform(xx + 498, xx + 490, xx + 484); |
| 7568 | xx[481] = xx[483] * motionData[166] - xx[482] * motionData[165]; |
| 7569 | xx[490] = 5.157931604049537e-12; |
| 7570 | xx[491] = 9.862118968695376e-13; |
| 7571 | xx[492] = xx[490] * xx[482] + xx[491] * xx[483]; |
| 7572 | xx[493] = xx[4] * xx[483] * xx[481] - (motionData[166] - xx[4] * xx[492] * xx |
| 7573 | [483]) - xx[491]; |
| 7574 | xx[494] = motionData[148]; |
| 7575 | xx[495] = motionData[149]; |
| 7576 | xx[496] = motionData[150]; |
| 7577 | xx[483] = motionData[165] + xx[4] * xx[482] * xx[481] + xx[4] * xx[492] * xx |
| 7578 | [482] - xx[490]; |
| 7579 | xx[481] = xx[483] * motionData[150]; |
| 7580 | xx[482] = xx[493] * motionData[150]; |
| 7581 | xx[490] = xx[483] * motionData[148] - xx[493] * motionData[149]; |
| 7582 | xx[497] = - xx[481]; |
| 7583 | xx[498] = xx[482]; |
| 7584 | xx[499] = xx[490]; |
| 7585 | pm_math_cross3(xx + 494, xx + 497, xx + 500); |
| 7586 | xx[494] = motionData[329]; |
| 7587 | xx[495] = motionData[330]; |
| 7588 | xx[496] = motionData[331]; |
| 7589 | xx[497] = motionData[332]; |
| 7590 | xx[491] = xx[55] * state[82] - xx[56] * state[79]; |
| 7591 | xx[492] = xx[55] * state[81] + xx[56] * state[80]; |
| 7592 | xx[498] = - xx[492]; |
| 7593 | xx[499] = xx[56] * state[81] - xx[55] * state[80]; |
| 7594 | xx[503] = - xx[499]; |
| 7595 | xx[504] = xx[55] * state[79] + xx[56] * state[82]; |
| 7596 | xx[505] = - xx[504]; |
| 7597 | xx[506] = xx[491]; |
| 7598 | xx[507] = xx[498]; |
| 7599 | xx[508] = xx[503]; |
| 7600 | xx[509] = xx[505]; |
| 7601 | pm_math_quatCompose(xx + 494, xx + 506, xx + 510); |
| 7602 | pm_math_quatXform(xx + 510, xx + 247, xx + 514); |
| 7603 | pm_math_quatXform(xx + 506, xx + 99, xx + 517); |
| 7604 | pm_math_quatXform(xx + 494, xx + 517, xx + 520); |
| 7605 | pm_math_quatXform(xx + 510, xx + 253, xx + 517); |
| 7606 | pm_math_quatXform(xx + 506, xx + 105, xx + 523); |
| 7607 | pm_math_quatXform(xx + 494, xx + 523, xx + 506); |
| 7608 | xx[509] = xx[191] * xx[513]; |
| 7609 | xx[523] = xx[191] * xx[511] + xx[192] * xx[512]; |
| 7610 | xx[524] = - xx[509]; |
| 7611 | xx[525] = - (xx[192] * xx[513]); |
| 7612 | xx[526] = xx[523]; |
| 7613 | pm_math_cross3(xx + 511, xx + 524, xx + 527); |
| 7614 | xx[524] = xx[498]; |
| 7615 | xx[525] = xx[503]; |
| 7616 | xx[526] = xx[505]; |
| 7617 | xx[498] = xx[86] * xx[504]; |
| 7618 | xx[503] = xx[112] * xx[504]; |
| 7619 | xx[504] = xx[86] * xx[492] + xx[499] * xx[112]; |
| 7620 | xx[530] = xx[498]; |
| 7621 | xx[531] = xx[503]; |
| 7622 | xx[532] = - xx[504]; |
| 7623 | pm_math_cross3(xx + 524, xx + 530, xx + 533); |
| 7624 | xx[524] = xx[4] * (xx[533] + xx[498] * xx[491]) - xx[112]; |
| 7625 | xx[525] = xx[86] + (xx[503] * xx[491] + xx[534]) * xx[4]; |
| 7626 | xx[526] = (xx[535] - xx[504] * xx[491]) * xx[4]; |
| 7627 | pm_math_quatXform(xx + 494, xx + 524, xx + 503); |
| 7628 | xx[494] = motionData[434]; |
| 7629 | xx[495] = motionData[435]; |
| 7630 | xx[496] = motionData[436]; |
| 7631 | xx[497] = motionData[437]; |
| 7632 | pm_math_quatCompose(xx + 12, xx + 494, xx + 530); |
| 7633 | xx[494] = xx[4] * (motionData[434] * motionData[436] - motionData[435] * |
| 7634 | motionData[437]); |
| 7635 | xx[495] = - ((motionData[434] * motionData[435] + motionData[436] * |
| 7636 | motionData[437]) * xx[4]); |
| 7637 | xx[496] = (motionData[435] * motionData[435] + motionData[436] * motionData |
| 7638 | [436]) * xx[4] - xx[5]; |
| 7639 | pm_math_cross3(xx + 494, xx + 24, xx + 497); |
| 7640 | pm_math_quatXform(xx + 530, xx + 497, xx + 494); |
| 7641 | xx[491] = xx[7] * motionData[438]; |
| 7642 | xx[492] = xx[7] * motionData[439]; |
| 7643 | xx[497] = xx[11] * motionData[439] - xx[9] * motionData[438]; |
| 7644 | xx[524] = - xx[491]; |
| 7645 | xx[525] = - xx[492]; |
| 7646 | xx[526] = - xx[497]; |
| 7647 | pm_math_cross3(xx + 20, xx + 524, xx + 530); |
| 7648 | xx[533] = motionData[427]; |
| 7649 | xx[534] = motionData[428]; |
| 7650 | xx[535] = motionData[429]; |
| 7651 | xx[536] = motionData[430]; |
| 7652 | pm_math_quatCompose(xx + 37, xx + 533, xx + 537); |
| 7653 | xx[524] = xx[4] * (motionData[428] * motionData[430] - motionData[427] * |
| 7654 | motionData[429]); |
| 7655 | xx[525] = (motionData[427] * motionData[428] + motionData[429] * motionData |
| 7656 | [430]) * xx[4]; |
| 7657 | xx[526] = xx[5] - (motionData[428] * motionData[428] + motionData[429] * |
| 7658 | motionData[429]) * xx[4]; |
| 7659 | pm_math_cross3(xx + 524, xx + 24, xx + 533); |
| 7660 | pm_math_quatXform(xx + 537, xx + 533, xx + 524); |
| 7661 | xx[498] = xx[36] * motionData[432] - xx[35] * motionData[431]; |
| 7662 | xx[499] = xx[4] * xx[36] * xx[498] - (motionData[432] + xx[47]) - xx[45]; |
| 7663 | xx[511] = motionData[431] + xx[4] * xx[35] * xx[498] - xx[52] + xx[44]; |
| 7664 | xx[498] = xx[511] * motionData[17]; |
| 7665 | xx[512] = xx[499] * motionData[17]; |
| 7666 | xx[533] = xx[511] * motionData[15] - xx[499] * motionData[16]; |
| 7667 | xx[534] = - xx[498]; |
| 7668 | xx[535] = xx[512]; |
| 7669 | xx[536] = xx[533]; |
| 7670 | pm_math_cross3(xx + 49, xx + 534, xx + 537); |
| 7671 | xx[540] = motionData[420]; |
| 7672 | xx[541] = motionData[421]; |
| 7673 | xx[542] = motionData[422]; |
| 7674 | xx[543] = motionData[423]; |
| 7675 | pm_math_quatCompose(xx + 75, xx + 540, xx + 544); |
| 7676 | xx[534] = motionData[421]; |
| 7677 | xx[535] = motionData[422]; |
| 7678 | xx[536] = motionData[423]; |
| 7679 | xx[540] = xx[82] * motionData[423]; |
| 7680 | xx[541] = xx[82] * motionData[421] + motionData[422]; |
| 7681 | xx[548] = xx[540]; |
| 7682 | xx[549] = motionData[423]; |
| 7683 | xx[550] = - xx[541]; |
| 7684 | pm_math_cross3(xx + 534, xx + 548, xx + 551); |
| 7685 | xx[542] = motionData[420] * motionData[423]; |
| 7686 | xx[548] = xx[5] + (xx[551] - xx[540] * motionData[420]) * xx[4]; |
| 7687 | xx[549] = xx[4] * (xx[552] - xx[542]) - xx[82]; |
| 7688 | xx[550] = xx[4] * (xx[553] + xx[541] * motionData[420]); |
| 7689 | pm_math_cross3(xx + 548, xx + 24, xx + 551); |
| 7690 | pm_math_quatXform(xx + 544, xx + 551, xx + 548); |
| 7691 | xx[541] = - (xx[82] * motionData[426]); |
| 7692 | xx[551] = xx[541]; |
| 7693 | xx[552] = - motionData[426]; |
| 7694 | xx[553] = motionData[425] + xx[82] * motionData[424]; |
| 7695 | pm_math_quatXform(xx + 71, xx + 551, xx + 554); |
| 7696 | xx[551] = xx[554] + xx[102]; |
| 7697 | xx[552] = xx[555] + xx[103]; |
| 7698 | xx[553] = xx[556] + xx[104]; |
| 7699 | pm_math_quatXform(xx + 61, xx + 551, xx + 554); |
| 7700 | xx[543] = motionData[421] - xx[82] * motionData[422]; |
| 7701 | xx[551] = - motionData[423]; |
| 7702 | xx[552] = xx[540]; |
| 7703 | xx[553] = xx[543]; |
| 7704 | pm_math_cross3(xx + 534, xx + 551, xx + 557); |
| 7705 | xx[534] = xx[82] + (xx[542] + xx[557]) * xx[4]; |
| 7706 | xx[535] = xx[5] + xx[4] * (xx[558] - xx[82] * xx[542]); |
| 7707 | xx[536] = xx[4] * (xx[559] - xx[543] * motionData[420]); |
| 7708 | pm_math_cross3(xx + 534, xx + 24, xx + 551); |
| 7709 | pm_math_quatXform(xx + 544, xx + 551, xx + 534); |
| 7710 | xx[551] = motionData[426]; |
| 7711 | xx[552] = xx[541]; |
| 7712 | xx[553] = xx[82] * motionData[425] - motionData[424]; |
| 7713 | pm_math_quatXform(xx + 71, xx + 551, xx + 540); |
| 7714 | xx[551] = xx[540] + xx[90]; |
| 7715 | xx[552] = xx[541] + xx[91]; |
| 7716 | xx[553] = xx[542] + xx[92]; |
| 7717 | pm_math_quatXform(xx + 61, xx + 551, xx + 540); |
| 7718 | xx[551] = xx[4] * (motionData[421] * motionData[423] - motionData[420] * |
| 7719 | motionData[422]); |
| 7720 | xx[552] = (motionData[420] * motionData[421] + motionData[422] * motionData |
| 7721 | [423]) * xx[4]; |
| 7722 | xx[553] = xx[5] - (motionData[421] * motionData[421] + motionData[422] * |
| 7723 | motionData[422]) * xx[4]; |
| 7724 | pm_math_cross3(xx + 551, xx + 24, xx + 557); |
| 7725 | pm_math_quatXform(xx + 544, xx + 557, xx + 551); |
| 7726 | xx[543] = xx[69] * motionData[424]; |
| 7727 | xx[544] = xx[69] * motionData[425]; |
| 7728 | xx[545] = xx[65] * motionData[424] + xx[67] * motionData[425]; |
| 7729 | xx[557] = xx[543]; |
| 7730 | xx[558] = xx[544]; |
| 7731 | xx[559] = - xx[545]; |
| 7732 | pm_math_cross3(xx + 83, xx + 557, xx + 560); |
| 7733 | xx[557] = xx[4] * (xx[560] + xx[543] * xx[57]) + xx[118] - motionData[425] - |
| 7734 | xx[112]; |
| 7735 | xx[558] = motionData[424] + xx[4] * (xx[561] + xx[544] * xx[57]) + xx[111] + |
| 7736 | xx[86]; |
| 7737 | xx[559] = (xx[562] - xx[545] * xx[57]) * xx[4] + xx[113]; |
| 7738 | pm_math_quatXform(xx + 61, xx + 557, xx + 543); |
| 7739 | xx[557] = motionData[413]; |
| 7740 | xx[558] = motionData[414]; |
| 7741 | xx[559] = motionData[415]; |
| 7742 | xx[560] = motionData[416]; |
| 7743 | pm_math_quatCompose(xx + 129, xx + 557, xx + 561); |
| 7744 | xx[546] = motionData[415] * motionData[415]; |
| 7745 | xx[547] = motionData[416] * motionData[416]; |
| 7746 | xx[557] = motionData[414] * motionData[415]; |
| 7747 | xx[558] = motionData[413] * motionData[416]; |
| 7748 | xx[559] = motionData[413] * motionData[415]; |
| 7749 | xx[560] = motionData[414] * motionData[416]; |
| 7750 | xx[565] = xx[5] - (xx[546] + xx[547]) * xx[4]; |
| 7751 | xx[566] = xx[4] * (xx[557] - xx[558]); |
| 7752 | xx[567] = (xx[559] + xx[560]) * xx[4]; |
| 7753 | pm_math_cross3(xx + 565, xx + 24, xx + 568); |
| 7754 | pm_math_quatXform(xx + 561, xx + 568, xx + 565); |
| 7755 | xx[568] = xx[117] * motionData[418]; |
| 7756 | xx[569] = xx[124] * motionData[419]; |
| 7757 | xx[570] = xx[568] + xx[569]; |
| 7758 | xx[571] = xx[70] * motionData[418]; |
| 7759 | xx[572] = xx[70] * motionData[419]; |
| 7760 | xx[573] = - xx[570]; |
| 7761 | xx[574] = - xx[571]; |
| 7762 | xx[575] = - xx[572]; |
| 7763 | pm_math_cross3(xx + 142, xx + 573, xx + 576); |
| 7764 | xx[573] = xx[4] * (xx[576] - xx[570] * xx[68]) + xx[156]; |
| 7765 | xx[574] = xx[4] * (xx[577] - xx[571] * xx[68]) + xx[150] - motionData[419] - |
| 7766 | xx[19]; |
| 7767 | xx[575] = motionData[418] + xx[4] * (xx[578] - xx[572] * xx[68]) + xx[154] - |
| 7768 | xx[8]; |
| 7769 | pm_math_quatXform(xx + 119, xx + 573, xx + 570); |
| 7770 | xx[573] = motionData[414] * motionData[414]; |
| 7771 | xx[574] = motionData[415] * motionData[416]; |
| 7772 | xx[575] = motionData[413] * motionData[414]; |
| 7773 | xx[576] = (xx[558] + xx[557]) * xx[4]; |
| 7774 | xx[577] = xx[5] - (xx[547] + xx[573]) * xx[4]; |
| 7775 | xx[578] = xx[4] * (xx[574] - xx[575]); |
| 7776 | pm_math_cross3(xx + 576, xx + 24, xx + 579); |
| 7777 | pm_math_quatXform(xx + 561, xx + 579, xx + 576); |
| 7778 | xx[547] = xx[117] * motionData[417]; |
| 7779 | xx[557] = xx[70] * motionData[417]; |
| 7780 | xx[558] = xx[557] - xx[569]; |
| 7781 | xx[569] = xx[117] * motionData[419]; |
| 7782 | xx[579] = xx[547]; |
| 7783 | xx[580] = xx[558]; |
| 7784 | xx[581] = xx[569]; |
| 7785 | pm_math_cross3(xx + 142, xx + 579, xx + 582); |
| 7786 | xx[579] = motionData[419] + (xx[547] * xx[68] + xx[582]) * xx[4] + xx[162] + |
| 7787 | xx[19]; |
| 7788 | xx[580] = (xx[558] * xx[68] + xx[583]) * xx[4] + xx[155]; |
| 7789 | xx[581] = (xx[569] * xx[68] + xx[584]) * xx[4] + xx[161] - motionData[417] - |
| 7790 | xx[6]; |
| 7791 | pm_math_quatXform(xx + 119, xx + 579, xx + 582); |
| 7792 | xx[579] = xx[4] * (xx[560] - xx[559]); |
| 7793 | xx[580] = (xx[575] + xx[574]) * xx[4]; |
| 7794 | xx[581] = xx[5] - (xx[573] + xx[546]) * xx[4]; |
| 7795 | pm_math_cross3(xx + 579, xx + 24, xx + 558); |
| 7796 | pm_math_quatXform(xx + 561, xx + 558, xx + 573); |
| 7797 | xx[546] = xx[124] * motionData[417]; |
| 7798 | xx[547] = xx[124] * motionData[418]; |
| 7799 | xx[558] = xx[557] - xx[568]; |
| 7800 | xx[559] = xx[546]; |
| 7801 | xx[560] = xx[547]; |
| 7802 | xx[561] = xx[558]; |
| 7803 | pm_math_cross3(xx + 142, xx + 559, xx + 562); |
| 7804 | xx[559] = (xx[546] * xx[68] + xx[562]) * xx[4] + xx[133] - motionData[418] + |
| 7805 | xx[8]; |
| 7806 | xx[560] = motionData[417] + (xx[547] * xx[68] + xx[563]) * xx[4] + xx[66] + |
| 7807 | xx[6]; |
| 7808 | xx[561] = (xx[558] * xx[68] + xx[564]) * xx[4] + xx[127]; |
| 7809 | pm_math_quatXform(xx + 119, xx + 559, xx + 562); |
| 7810 | xx[557] = motionData[70]; |
| 7811 | xx[558] = motionData[71]; |
| 7812 | xx[559] = motionData[72]; |
| 7813 | xx[560] = motionData[73]; |
| 7814 | pm_math_quatCompose(xx + 169, xx + 557, xx + 585); |
| 7815 | xx[557] = xx[4] * (motionData[71] * motionData[73] - motionData[70] * |
| 7816 | motionData[72]); |
| 7817 | xx[558] = (motionData[70] * motionData[71] + motionData[72] * motionData[73]) * |
| 7818 | xx[4]; |
| 7819 | xx[559] = xx[5] - (motionData[71] * motionData[71] + motionData[72] * |
| 7820 | motionData[72]) * xx[4]; |
| 7821 | pm_math_cross3(xx + 557, xx + 24, xx + 579); |
| 7822 | pm_math_quatXform(xx + 585, xx + 579, xx + 557); |
| 7823 | xx[546] = xx[126] * motionData[75]; |
| 7824 | xx[547] = xx[126] * motionData[74]; |
| 7825 | xx[560] = xx[4] * (xx[546] * xx[126] - xx[125] * xx[547]) - motionData[75] + |
| 7826 | xx[148]; |
| 7827 | xx[561] = motionData[74] - ((xx[125] * xx[546] + xx[547] * xx[126]) * xx[4] - |
| 7828 | xx[160]) - xx[137]; |
| 7829 | xx[546] = xx[561] * motionData[220]; |
| 7830 | xx[547] = xx[560] * motionData[220]; |
| 7831 | xx[568] = xx[561] * motionData[218] - xx[560] * motionData[219]; |
| 7832 | xx[579] = - xx[546]; |
| 7833 | xx[580] = xx[547]; |
| 7834 | xx[581] = xx[568]; |
| 7835 | pm_math_cross3(xx + 173, xx + 579, xx + 585); |
| 7836 | xx[569] = xx[2] * state[38]; |
| 7837 | xx[579] = cos(xx[569]); |
| 7838 | xx[580] = xx[442] * xx[579]; |
| 7839 | xx[581] = sin(xx[569]); |
| 7840 | xx[569] = xx[442] * xx[581]; |
| 7841 | xx[442] = xx[580] + xx[569]; |
| 7842 | xx[588] = xx[463] * xx[579]; |
| 7843 | xx[579] = xx[463] * xx[581]; |
| 7844 | xx[463] = xx[588] - xx[579]; |
| 7845 | xx[581] = xx[588] + xx[579]; |
| 7846 | xx[579] = xx[580] - xx[569]; |
| 7847 | xx[588] = xx[442]; |
| 7848 | xx[589] = xx[463]; |
| 7849 | xx[590] = xx[581]; |
| 7850 | xx[591] = xx[579]; |
| 7851 | pm_math_quatCompose(xx + 325, xx + 588, xx + 592); |
| 7852 | xx[569] = xx[6] * xx[595]; |
| 7853 | xx[580] = xx[6] * xx[593] - xx[8] * xx[594]; |
| 7854 | xx[588] = - xx[569]; |
| 7855 | xx[589] = xx[8] * xx[595]; |
| 7856 | xx[590] = xx[580]; |
| 7857 | pm_math_cross3(xx + 593, xx + 588, xx + 596); |
| 7858 | xx[588] = 6.30935626036444e-12; |
| 7859 | xx[589] = xx[463]; |
| 7860 | xx[590] = xx[581]; |
| 7861 | xx[591] = xx[579]; |
| 7862 | xx[593] = 5.998698970888227e-12; |
| 7863 | xx[594] = xx[593] * xx[579]; |
| 7864 | xx[599] = xx[588] * xx[579]; |
| 7865 | xx[579] = xx[593] * xx[463] + xx[581] * xx[588]; |
| 7866 | xx[600] = xx[594]; |
| 7867 | xx[601] = xx[599]; |
| 7868 | xx[602] = - xx[579]; |
| 7869 | pm_math_cross3(xx + 589, xx + 600, xx + 603); |
| 7870 | xx[589] = xx[588] + xx[4] * (xx[603] + xx[442] * xx[594]); |
| 7871 | xx[590] = (xx[442] * xx[599] + xx[604]) * xx[4] - xx[593]; |
| 7872 | xx[591] = (xx[605] - xx[442] * xx[579]) * xx[4]; |
| 7873 | pm_math_quatXform(xx + 325, xx + 589, xx + 599); |
| 7874 | xx[442] = 0.3162538200043575; |
| 7875 | xx[463] = xx[2] * state[86]; |
| 7876 | xx[579] = sin(xx[463]); |
| 7877 | xx[581] = 0.3162553791961478; |
| 7878 | xx[588] = cos(xx[463]); |
| 7879 | xx[463] = xx[442] * xx[579] - xx[581] * xx[588]; |
| 7880 | xx[589] = 0.6324445710612973; |
| 7881 | xx[590] = 0.6324396579890008; |
| 7882 | xx[591] = xx[589] * xx[588] + xx[590] * xx[579]; |
| 7883 | xx[593] = - xx[591]; |
| 7884 | xx[594] = xx[590] * xx[588] - xx[589] * xx[579]; |
| 7885 | xx[589] = xx[442] * xx[588] + xx[581] * xx[579]; |
| 7886 | xx[602] = xx[463]; |
| 7887 | xx[603] = xx[593]; |
| 7888 | xx[604] = xx[594]; |
| 7889 | xx[605] = xx[589]; |
| 7890 | xx[606] = motionData[406]; |
| 7891 | xx[607] = motionData[407]; |
| 7892 | xx[608] = motionData[408]; |
| 7893 | xx[609] = motionData[409]; |
| 7894 | pm_math_quatCompose(xx + 602, xx + 606, xx + 610); |
| 7895 | xx[602] = xx[4] * (motionData[406] * motionData[408] - motionData[407] * |
| 7896 | motionData[409]); |
| 7897 | xx[603] = - ((motionData[406] * motionData[407] + motionData[408] * |
| 7898 | motionData[409]) * xx[4]); |
| 7899 | xx[604] = (motionData[407] * motionData[407] + motionData[408] * motionData |
| 7900 | [408]) * xx[4] - xx[5]; |
| 7901 | pm_math_cross3(xx + 602, xx + 208, xx + 605); |
| 7902 | pm_math_quatXform(xx + 610, xx + 605, xx + 602); |
| 7903 | xx[442] = xx[589] * motionData[410]; |
| 7904 | xx[605] = xx[593]; |
| 7905 | xx[606] = xx[594]; |
| 7906 | xx[607] = xx[589]; |
| 7907 | xx[579] = xx[589] * motionData[411]; |
| 7908 | xx[581] = xx[594] * motionData[411] - xx[591] * motionData[410]; |
| 7909 | xx[608] = xx[442]; |
| 7910 | xx[609] = xx[579]; |
| 7911 | xx[610] = - xx[581]; |
| 7912 | pm_math_cross3(xx + 605, xx + 608, xx + 611); |
| 7913 | xx[588] = xx[27] * xx[591]; |
| 7914 | xx[590] = xx[27] * xx[589]; |
| 7915 | xx[593] = xx[2] * state[88]; |
| 7916 | xx[605] = cos(xx[593]); |
| 7917 | xx[606] = sin(xx[593]); |
| 7918 | xx[607] = xx[605] * motionData[169] - xx[606] * motionData[170]; |
| 7919 | xx[608] = - (xx[605] * motionData[168] + xx[606] * motionData[171]); |
| 7920 | xx[609] = xx[606] * motionData[168] - xx[605] * motionData[171]; |
| 7921 | xx[610] = xx[606] * motionData[169] + xx[605] * motionData[170]; |
| 7922 | xx[614] = motionData[182]; |
| 7923 | xx[615] = motionData[183]; |
| 7924 | xx[616] = motionData[184]; |
| 7925 | xx[617] = motionData[185]; |
| 7926 | pm_math_quatCompose(xx + 607, xx + 614, xx + 618); |
| 7927 | xx[607] = xx[4] * (motionData[183] * motionData[185] - motionData[182] * |
| 7928 | motionData[184]); |
| 7929 | xx[608] = (motionData[182] * motionData[183] + motionData[184] * motionData |
| 7930 | [185]) * xx[4]; |
| 7931 | xx[609] = xx[5] - (motionData[183] * motionData[183] + motionData[184] * |
| 7932 | motionData[184]) * xx[4]; |
| 7933 | pm_math_cross3(xx + 607, xx + 208, xx + 614); |
| 7934 | pm_math_quatXform(xx + 618, xx + 614, xx + 607); |
| 7935 | xx[593] = xx[606] * motionData[187] - xx[605] * motionData[186]; |
| 7936 | xx[610] = 1.600627075326599e-13; |
| 7937 | xx[614] = 8.497959654019115e-12; |
| 7938 | xx[615] = xx[610] * xx[605] + xx[614] * xx[606]; |
| 7939 | xx[616] = xx[4] * xx[606] * xx[593] - (motionData[187] - xx[4] * xx[615] * xx |
| 7940 | [606]) - xx[614]; |
| 7941 | xx[617] = motionData[169]; |
| 7942 | xx[618] = motionData[170]; |
| 7943 | xx[619] = motionData[171]; |
| 7944 | xx[606] = motionData[186] + xx[4] * xx[605] * xx[593] + xx[4] * xx[615] * xx |
| 7945 | [605] - xx[610]; |
| 7946 | xx[593] = xx[606] * motionData[171]; |
| 7947 | xx[605] = xx[616] * motionData[171]; |
| 7948 | xx[610] = xx[606] * motionData[169] - xx[616] * motionData[170]; |
| 7949 | xx[620] = - xx[593]; |
| 7950 | xx[621] = xx[605]; |
| 7951 | xx[622] = xx[610]; |
| 7952 | pm_math_cross3(xx + 617, xx + 620, xx + 623); |
| 7953 | xx[617] = motionData[385]; |
| 7954 | xx[618] = motionData[386]; |
| 7955 | xx[619] = motionData[387]; |
| 7956 | xx[620] = motionData[388]; |
| 7957 | xx[614] = xx[55] * state[93] - xx[56] * state[90]; |
| 7958 | xx[615] = xx[55] * state[92] + xx[56] * state[91]; |
| 7959 | xx[621] = - xx[615]; |
| 7960 | xx[622] = xx[56] * state[92] - xx[55] * state[91]; |
| 7961 | xx[626] = - xx[622]; |
| 7962 | xx[627] = xx[55] * state[90] + xx[56] * state[93]; |
| 7963 | xx[628] = - xx[627]; |
| 7964 | xx[629] = xx[614]; |
| 7965 | xx[630] = xx[621]; |
| 7966 | xx[631] = xx[626]; |
| 7967 | xx[632] = xx[628]; |
| 7968 | pm_math_quatCompose(xx + 617, xx + 629, xx + 633); |
| 7969 | pm_math_quatXform(xx + 633, xx + 247, xx + 637); |
| 7970 | pm_math_quatXform(xx + 629, xx + 99, xx + 640); |
| 7971 | pm_math_quatXform(xx + 617, xx + 640, xx + 643); |
| 7972 | pm_math_quatXform(xx + 633, xx + 253, xx + 640); |
| 7973 | pm_math_quatXform(xx + 629, xx + 105, xx + 646); |
| 7974 | pm_math_quatXform(xx + 617, xx + 646, xx + 629); |
| 7975 | xx[632] = xx[191] * xx[636]; |
| 7976 | xx[646] = xx[191] * xx[634] + xx[192] * xx[635]; |
| 7977 | xx[647] = - xx[632]; |
| 7978 | xx[648] = - (xx[192] * xx[636]); |
| 7979 | xx[649] = xx[646]; |
| 7980 | pm_math_cross3(xx + 634, xx + 647, xx + 650); |
| 7981 | xx[647] = xx[621]; |
| 7982 | xx[648] = xx[626]; |
| 7983 | xx[649] = xx[628]; |
| 7984 | xx[621] = xx[86] * xx[627]; |
| 7985 | xx[626] = xx[112] * xx[627]; |
| 7986 | xx[627] = xx[86] * xx[615] + xx[622] * xx[112]; |
| 7987 | xx[653] = xx[621]; |
| 7988 | xx[654] = xx[626]; |
| 7989 | xx[655] = - xx[627]; |
| 7990 | pm_math_cross3(xx + 647, xx + 653, xx + 656); |
| 7991 | xx[647] = xx[4] * (xx[656] + xx[621] * xx[614]) - xx[112]; |
| 7992 | xx[648] = xx[86] + (xx[626] * xx[614] + xx[657]) * xx[4]; |
| 7993 | xx[649] = (xx[658] - xx[627] * xx[614]) * xx[4]; |
| 7994 | pm_math_quatXform(xx + 617, xx + 647, xx + 626); |
| 7995 | xx[617] = motionData[490]; |
| 7996 | xx[618] = motionData[491]; |
| 7997 | xx[619] = motionData[492]; |
| 7998 | xx[620] = motionData[493]; |
| 7999 | pm_math_quatCompose(xx + 12, xx + 617, xx + 653); |
| 8000 | xx[12] = xx[4] * (motionData[490] * motionData[492] - motionData[491] * |
| 8001 | motionData[493]); |
| 8002 | xx[13] = - ((motionData[490] * motionData[491] + motionData[492] * motionData |
| 8003 | [493]) * xx[4]); |
| 8004 | xx[14] = (motionData[491] * motionData[491] + motionData[492] * motionData[492]) |
| 8005 | * xx[4] - xx[5]; |
| 8006 | pm_math_cross3(xx + 12, xx + 24, xx + 617); |
| 8007 | pm_math_quatXform(xx + 653, xx + 617, xx + 12); |
| 8008 | xx[15] = xx[7] * motionData[494]; |
| 8009 | xx[614] = xx[7] * motionData[495]; |
| 8010 | xx[7] = xx[11] * motionData[495] - xx[9] * motionData[494]; |
| 8011 | xx[617] = - xx[15]; |
| 8012 | xx[618] = - xx[614]; |
| 8013 | xx[619] = - xx[7]; |
| 8014 | pm_math_cross3(xx + 20, xx + 617, xx + 620); |
| 8015 | xx[653] = motionData[483]; |
| 8016 | xx[654] = motionData[484]; |
| 8017 | xx[655] = motionData[485]; |
| 8018 | xx[656] = motionData[486]; |
| 8019 | pm_math_quatCompose(xx + 37, xx + 653, xx + 657); |
| 8020 | xx[20] = xx[4] * (motionData[484] * motionData[486] - motionData[483] * |
| 8021 | motionData[485]); |
| 8022 | xx[21] = (motionData[483] * motionData[484] + motionData[485] * motionData[486]) |
| 8023 | * xx[4]; |
| 8024 | xx[22] = xx[5] - (motionData[484] * motionData[484] + motionData[485] * |
| 8025 | motionData[485]) * xx[4]; |
| 8026 | pm_math_cross3(xx + 20, xx + 24, xx + 37); |
| 8027 | pm_math_quatXform(xx + 657, xx + 37, xx + 20); |
| 8028 | xx[9] = xx[36] * motionData[488] - xx[35] * motionData[487]; |
| 8029 | xx[11] = xx[4] * xx[36] * xx[9] - (motionData[488] + xx[47]) - xx[45]; |
| 8030 | xx[36] = motionData[487] + xx[4] * xx[35] * xx[9] - xx[52] + xx[44]; |
| 8031 | xx[9] = xx[36] * motionData[17]; |
| 8032 | xx[35] = xx[11] * motionData[17]; |
| 8033 | xx[37] = xx[36] * motionData[15] - xx[11] * motionData[16]; |
| 8034 | xx[38] = - xx[9]; |
| 8035 | xx[39] = xx[35]; |
| 8036 | xx[40] = xx[37]; |
| 8037 | pm_math_cross3(xx + 49, xx + 38, xx + 617); |
| 8038 | xx[49] = motionData[476]; |
| 8039 | xx[50] = motionData[477]; |
| 8040 | xx[51] = motionData[478]; |
| 8041 | xx[52] = motionData[479]; |
| 8042 | pm_math_quatCompose(xx + 75, xx + 49, xx + 653); |
| 8043 | xx[38] = motionData[477]; |
| 8044 | xx[39] = motionData[478]; |
| 8045 | xx[40] = motionData[479]; |
| 8046 | xx[44] = xx[82] * motionData[479]; |
| 8047 | xx[45] = xx[82] * motionData[477] + motionData[478]; |
| 8048 | xx[49] = xx[44]; |
| 8049 | xx[50] = motionData[479]; |
| 8050 | xx[51] = - xx[45]; |
| 8051 | pm_math_cross3(xx + 38, xx + 49, xx + 75); |
| 8052 | xx[47] = motionData[476] * motionData[479]; |
| 8053 | xx[49] = xx[5] + (xx[75] - xx[44] * motionData[476]) * xx[4]; |
| 8054 | xx[50] = xx[4] * (xx[76] - xx[47]) - xx[82]; |
| 8055 | xx[51] = xx[4] * (xx[77] + xx[45] * motionData[476]); |
| 8056 | pm_math_cross3(xx + 49, xx + 24, xx + 75); |
| 8057 | pm_math_quatXform(xx + 653, xx + 75, xx + 49); |
| 8058 | xx[45] = - (xx[82] * motionData[482]); |
| 8059 | xx[75] = xx[45]; |
| 8060 | xx[76] = - motionData[482]; |
| 8061 | xx[77] = motionData[481] + xx[82] * motionData[480]; |
| 8062 | pm_math_quatXform(xx + 71, xx + 75, xx + 647); |
| 8063 | xx[75] = xx[647] + xx[102]; |
| 8064 | xx[76] = xx[648] + xx[103]; |
| 8065 | xx[77] = xx[649] + xx[104]; |
| 8066 | pm_math_quatXform(xx + 61, xx + 75, xx + 102); |
| 8067 | xx[52] = motionData[477] - xx[82] * motionData[478]; |
| 8068 | xx[75] = - motionData[479]; |
| 8069 | xx[76] = xx[44]; |
| 8070 | xx[77] = xx[52]; |
| 8071 | pm_math_cross3(xx + 38, xx + 75, xx + 647); |
| 8072 | xx[38] = xx[82] + (xx[47] + xx[647]) * xx[4]; |
| 8073 | xx[39] = xx[5] + xx[4] * (xx[648] - xx[82] * xx[47]); |
| 8074 | xx[40] = xx[4] * (xx[649] - xx[52] * motionData[476]); |
| 8075 | pm_math_cross3(xx + 38, xx + 24, xx + 75); |
| 8076 | pm_math_quatXform(xx + 653, xx + 75, xx + 38); |
| 8077 | xx[75] = motionData[482]; |
| 8078 | xx[76] = xx[45]; |
| 8079 | xx[77] = xx[82] * motionData[481] - motionData[480]; |
| 8080 | pm_math_quatXform(xx + 71, xx + 75, xx + 647); |
| 8081 | xx[71] = xx[647] + xx[90]; |
| 8082 | xx[72] = xx[648] + xx[91]; |
| 8083 | xx[73] = xx[649] + xx[92]; |
| 8084 | pm_math_quatXform(xx + 61, xx + 71, xx + 74); |
| 8085 | xx[71] = xx[4] * (motionData[477] * motionData[479] - motionData[476] * |
| 8086 | motionData[478]); |
| 8087 | xx[72] = (motionData[476] * motionData[477] + motionData[478] * motionData[479]) |
| 8088 | * xx[4]; |
| 8089 | xx[73] = xx[5] - (motionData[477] * motionData[477] + motionData[478] * |
| 8090 | motionData[478]) * xx[4]; |
| 8091 | pm_math_cross3(xx + 71, xx + 24, xx + 90); |
| 8092 | pm_math_quatXform(xx + 653, xx + 90, xx + 71); |
| 8093 | xx[44] = xx[69] * motionData[480]; |
| 8094 | xx[45] = xx[69] * motionData[481]; |
| 8095 | xx[47] = xx[65] * motionData[480] + xx[67] * motionData[481]; |
| 8096 | xx[90] = xx[44]; |
| 8097 | xx[91] = xx[45]; |
| 8098 | xx[92] = - xx[47]; |
| 8099 | pm_math_cross3(xx + 83, xx + 90, xx + 647); |
| 8100 | xx[82] = xx[4] * (xx[647] + xx[44] * xx[57]) + xx[118] - motionData[481] - xx |
| 8101 | [112]; |
| 8102 | xx[83] = motionData[480] + xx[4] * (xx[648] + xx[45] * xx[57]) + xx[111] + xx |
| 8103 | [86]; |
| 8104 | xx[84] = (xx[649] - xx[47] * xx[57]) * xx[4] + xx[113]; |
| 8105 | pm_math_quatXform(xx + 61, xx + 82, xx + 90); |
| 8106 | xx[61] = motionData[469]; |
| 8107 | xx[62] = motionData[470]; |
| 8108 | xx[63] = motionData[471]; |
| 8109 | xx[64] = motionData[472]; |
| 8110 | pm_math_quatCompose(xx + 129, xx + 61, xx + 82); |
| 8111 | xx[44] = motionData[471] * motionData[471]; |
| 8112 | xx[45] = motionData[472] * motionData[472]; |
| 8113 | xx[47] = motionData[470] * motionData[471]; |
| 8114 | xx[52] = motionData[469] * motionData[472]; |
| 8115 | xx[57] = motionData[469] * motionData[471]; |
| 8116 | xx[61] = motionData[470] * motionData[472]; |
| 8117 | xx[62] = xx[5] - (xx[44] + xx[45]) * xx[4]; |
| 8118 | xx[63] = xx[4] * (xx[47] - xx[52]); |
| 8119 | xx[64] = (xx[57] + xx[61]) * xx[4]; |
| 8120 | pm_math_cross3(xx + 62, xx + 24, xx + 129); |
| 8121 | pm_math_quatXform(xx + 82, xx + 129, xx + 62); |
| 8122 | xx[65] = xx[117] * motionData[474]; |
| 8123 | xx[67] = xx[124] * motionData[475]; |
| 8124 | xx[69] = xx[65] + xx[67]; |
| 8125 | xx[77] = xx[70] * motionData[474]; |
| 8126 | xx[78] = xx[70] * motionData[475]; |
| 8127 | xx[129] = - xx[69]; |
| 8128 | xx[130] = - xx[77]; |
| 8129 | xx[131] = - xx[78]; |
| 8130 | pm_math_cross3(xx + 142, xx + 129, xx + 647); |
| 8131 | xx[129] = xx[4] * (xx[647] - xx[69] * xx[68]) + xx[156]; |
| 8132 | xx[130] = xx[4] * (xx[648] - xx[77] * xx[68]) + xx[150] - motionData[475] - |
| 8133 | xx[19]; |
| 8134 | xx[131] = motionData[474] + xx[4] * (xx[649] - xx[78] * xx[68]) + xx[154] - |
| 8135 | xx[8]; |
| 8136 | pm_math_quatXform(xx + 119, xx + 129, xx + 647); |
| 8137 | xx[69] = motionData[470] * motionData[470]; |
| 8138 | xx[77] = motionData[471] * motionData[472]; |
| 8139 | xx[78] = motionData[469] * motionData[470]; |
| 8140 | xx[129] = (xx[52] + xx[47]) * xx[4]; |
| 8141 | xx[130] = xx[5] - (xx[45] + xx[69]) * xx[4]; |
| 8142 | xx[131] = xx[4] * (xx[77] - xx[78]); |
| 8143 | pm_math_cross3(xx + 129, xx + 24, xx + 653); |
| 8144 | pm_math_quatXform(xx + 82, xx + 653, xx + 129); |
| 8145 | xx[45] = xx[117] * motionData[473]; |
| 8146 | xx[47] = xx[70] * motionData[473]; |
| 8147 | xx[52] = xx[47] - xx[67]; |
| 8148 | xx[67] = xx[117] * motionData[475]; |
| 8149 | xx[653] = xx[45]; |
| 8150 | xx[654] = xx[52]; |
| 8151 | xx[655] = xx[67]; |
| 8152 | pm_math_cross3(xx + 142, xx + 653, xx + 656); |
| 8153 | xx[653] = motionData[475] + (xx[45] * xx[68] + xx[656]) * xx[4] + xx[162] + |
| 8154 | xx[19]; |
| 8155 | xx[654] = (xx[52] * xx[68] + xx[657]) * xx[4] + xx[155]; |
| 8156 | xx[655] = (xx[67] * xx[68] + xx[658]) * xx[4] + xx[161] - motionData[473] - |
| 8157 | xx[6]; |
| 8158 | pm_math_quatXform(xx + 119, xx + 653, xx + 154); |
| 8159 | xx[653] = xx[4] * (xx[61] - xx[57]); |
| 8160 | xx[654] = (xx[78] + xx[77]) * xx[4]; |
| 8161 | xx[655] = xx[5] - (xx[69] + xx[44]) * xx[4]; |
| 8162 | pm_math_cross3(xx + 653, xx + 24, xx + 656); |
| 8163 | pm_math_quatXform(xx + 82, xx + 656, xx + 653); |
| 8164 | xx[19] = xx[124] * motionData[473]; |
| 8165 | xx[44] = xx[124] * motionData[474]; |
| 8166 | xx[45] = xx[47] - xx[65]; |
| 8167 | xx[82] = xx[19]; |
| 8168 | xx[83] = xx[44]; |
| 8169 | xx[84] = xx[45]; |
| 8170 | pm_math_cross3(xx + 142, xx + 82, xx + 656); |
| 8171 | xx[82] = (xx[19] * xx[68] + xx[656]) * xx[4] + xx[133] - motionData[474] + xx |
| 8172 | [8]; |
| 8173 | xx[83] = motionData[473] + (xx[44] * xx[68] + xx[657]) * xx[4] + xx[66] + xx[6]; |
| 8174 | xx[84] = (xx[45] * xx[68] + xx[658]) * xx[4] + xx[127]; |
| 8175 | pm_math_quatXform(xx + 119, xx + 82, xx + 65); |
| 8176 | xx[82] = motionData[77]; |
| 8177 | xx[83] = motionData[78]; |
| 8178 | xx[84] = motionData[79]; |
| 8179 | xx[85] = motionData[80]; |
| 8180 | pm_math_quatCompose(xx + 169, xx + 82, xx + 117); |
| 8181 | xx[68] = xx[4] * (motionData[78] * motionData[80] - motionData[77] * |
| 8182 | motionData[79]); |
| 8183 | xx[69] = (motionData[77] * motionData[78] + motionData[79] * motionData[80]) * |
| 8184 | xx[4]; |
| 8185 | xx[70] = xx[5] - (motionData[78] * motionData[78] + motionData[79] * |
| 8186 | motionData[79]) * xx[4]; |
| 8187 | pm_math_cross3(xx + 68, xx + 24, xx + 82); |
| 8188 | pm_math_quatXform(xx + 117, xx + 82, xx + 24); |
| 8189 | xx[19] = xx[126] * motionData[82]; |
| 8190 | xx[44] = xx[126] * motionData[81]; |
| 8191 | xx[45] = xx[4] * (xx[19] * xx[126] - xx[125] * xx[44]) - motionData[82] + xx |
| 8192 | [148]; |
| 8193 | xx[47] = motionData[81] - ((xx[125] * xx[19] + xx[44] * xx[126]) * xx[4] - xx |
| 8194 | [160]) - xx[137]; |
| 8195 | xx[19] = xx[47] * motionData[220]; |
| 8196 | xx[44] = xx[45] * motionData[220]; |
| 8197 | xx[52] = xx[47] * motionData[218] - xx[45] * motionData[219]; |
| 8198 | xx[68] = - xx[19]; |
| 8199 | xx[69] = xx[44]; |
| 8200 | xx[70] = xx[52]; |
| 8201 | pm_math_cross3(xx + 173, xx + 68, xx + 82); |
| 8202 | xx[57] = xx[2] * state[40]; |
| 8203 | xx[61] = sin(xx[57]); |
| 8204 | xx[68] = xx[306] * xx[61]; |
| 8205 | xx[69] = cos(xx[57]); |
| 8206 | xx[57] = xx[306] * xx[69]; |
| 8207 | xx[70] = xx[68] - xx[57]; |
| 8208 | xx[77] = xx[331] * xx[69]; |
| 8209 | xx[69] = xx[331] * xx[61]; |
| 8210 | xx[61] = xx[77] + xx[69]; |
| 8211 | xx[78] = - xx[61]; |
| 8212 | xx[85] = xx[69] - xx[77]; |
| 8213 | xx[69] = xx[68] + xx[57]; |
| 8214 | xx[57] = - xx[69]; |
| 8215 | xx[117] = xx[70]; |
| 8216 | xx[118] = xx[78]; |
| 8217 | xx[119] = xx[85]; |
| 8218 | xx[120] = xx[57]; |
| 8219 | pm_math_quatCompose(xx + 325, xx + 117, xx + 124); |
| 8220 | xx[68] = xx[6] * xx[127]; |
| 8221 | xx[77] = xx[8] * xx[126] - xx[6] * xx[125]; |
| 8222 | xx[117] = xx[68]; |
| 8223 | xx[118] = - (xx[8] * xx[127]); |
| 8224 | xx[119] = xx[77]; |
| 8225 | pm_math_cross3(xx + 125, xx + 117, xx + 120); |
| 8226 | xx[111] = 5.088251355846174e-12; |
| 8227 | xx[117] = xx[78]; |
| 8228 | xx[118] = xx[85]; |
| 8229 | xx[119] = xx[57]; |
| 8230 | xx[57] = 7.483145982728478e-12; |
| 8231 | xx[78] = xx[69] * xx[57]; |
| 8232 | xx[113] = xx[69] * xx[111]; |
| 8233 | xx[69] = xx[61] * xx[57] + xx[111] * xx[85]; |
| 8234 | xx[142] = xx[78]; |
| 8235 | xx[143] = - xx[113]; |
| 8236 | xx[144] = - xx[69]; |
| 8237 | pm_math_cross3(xx + 117, xx + 142, xx + 160); |
| 8238 | xx[117] = xx[111] + xx[4] * (xx[160] + xx[78] * xx[70]); |
| 8239 | xx[118] = xx[57] + (xx[161] - xx[113] * xx[70]) * xx[4]; |
| 8240 | xx[119] = (xx[162] - xx[70] * xx[69]) * xx[4]; |
| 8241 | pm_math_quatXform(xx + 325, xx + 117, xx + 142); |
| 8242 | xx[57] = xx[2] * state[42]; |
| 8243 | xx[61] = cos(xx[57]); |
| 8244 | xx[69] = sin(xx[57]); |
| 8245 | xx[57] = xx[316] * xx[61] + xx[330] * xx[69]; |
| 8246 | xx[70] = xx[334] * xx[69] - xx[335] * xx[61]; |
| 8247 | xx[78] = xx[334] * xx[61] + xx[335] * xx[69]; |
| 8248 | xx[85] = xx[316] * xx[69] - xx[330] * xx[61]; |
| 8249 | xx[169] = xx[57]; |
| 8250 | xx[170] = xx[70]; |
| 8251 | xx[171] = xx[78]; |
| 8252 | xx[172] = xx[85]; |
| 8253 | xx[325] = motionData[462]; |
| 8254 | xx[326] = motionData[463]; |
| 8255 | xx[327] = motionData[464]; |
| 8256 | xx[328] = motionData[465]; |
| 8257 | pm_math_quatCompose(xx + 169, xx + 325, xx + 656); |
| 8258 | xx[117] = xx[4] * (motionData[463] * motionData[465] - motionData[462] * |
| 8259 | motionData[464]); |
| 8260 | xx[118] = (motionData[462] * motionData[463] + motionData[464] * motionData |
| 8261 | [465]) * xx[4]; |
| 8262 | xx[119] = xx[5] - (motionData[463] * motionData[463] + motionData[464] * |
| 8263 | motionData[464]) * xx[4]; |
| 8264 | pm_math_cross3(xx + 117, xx + 208, xx + 160); |
| 8265 | pm_math_quatXform(xx + 656, xx + 160, xx + 117); |
| 8266 | xx[160] = xx[70]; |
| 8267 | xx[161] = xx[78]; |
| 8268 | xx[162] = xx[85]; |
| 8269 | xx[61] = xx[85] * motionData[466]; |
| 8270 | xx[69] = xx[85] * motionData[467]; |
| 8271 | xx[111] = xx[70] * motionData[466] + xx[78] * motionData[467]; |
| 8272 | xx[169] = - xx[61]; |
| 8273 | xx[170] = - xx[69]; |
| 8274 | xx[171] = xx[111]; |
| 8275 | pm_math_cross3(xx + 160, xx + 169, xx + 172); |
| 8276 | xx[113] = xx[70] * xx[27]; |
| 8277 | xx[125] = xx[85] * xx[27]; |
| 8278 | xx[126] = xx[2] * state[44]; |
| 8279 | xx[2] = cos(xx[126]); |
| 8280 | xx[132] = sin(xx[126]); |
| 8281 | xx[325] = xx[2] * motionData[85] - xx[132] * motionData[86]; |
| 8282 | xx[326] = - (xx[2] * motionData[84] + xx[132] * motionData[87]); |
| 8283 | xx[327] = xx[132] * motionData[84] - xx[2] * motionData[87]; |
| 8284 | xx[328] = xx[132] * motionData[85] + xx[2] * motionData[86]; |
| 8285 | xx[656] = motionData[98]; |
| 8286 | xx[657] = motionData[99]; |
| 8287 | xx[658] = motionData[100]; |
| 8288 | xx[659] = motionData[101]; |
| 8289 | pm_math_quatCompose(xx + 325, xx + 656, xx + 660); |
| 8290 | xx[160] = xx[4] * (motionData[99] * motionData[101] - motionData[98] * |
| 8291 | motionData[100]); |
| 8292 | xx[161] = (motionData[98] * motionData[99] + motionData[100] * motionData[101]) |
| 8293 | * xx[4]; |
| 8294 | xx[162] = xx[5] - (motionData[99] * motionData[99] + motionData[100] * |
| 8295 | motionData[100]) * xx[4]; |
| 8296 | pm_math_cross3(xx + 160, xx + 208, xx + 169); |
| 8297 | pm_math_quatXform(xx + 660, xx + 169, xx + 160); |
| 8298 | xx[5] = xx[132] * motionData[103] - xx[2] * motionData[102]; |
| 8299 | xx[126] = 3.107391981487723e-12; |
| 8300 | xx[133] = 9.83617579279345e-12; |
| 8301 | xx[137] = xx[126] * xx[2] + xx[133] * xx[132]; |
| 8302 | xx[148] = xx[4] * xx[132] * xx[5] - (motionData[103] - xx[4] * xx[137] * xx |
| 8303 | [132]) - xx[133]; |
| 8304 | xx[169] = motionData[85]; |
| 8305 | xx[170] = motionData[86]; |
| 8306 | xx[171] = motionData[87]; |
| 8307 | xx[132] = motionData[102] + xx[4] * xx[2] * xx[5] + xx[4] * xx[137] * xx[2] - |
| 8308 | xx[126]; |
| 8309 | xx[2] = xx[132] * motionData[87]; |
| 8310 | xx[5] = xx[148] * motionData[87]; |
| 8311 | xx[126] = xx[132] * motionData[85] - xx[148] * motionData[86]; |
| 8312 | xx[208] = - xx[2]; |
| 8313 | xx[209] = xx[5]; |
| 8314 | xx[210] = xx[126]; |
| 8315 | pm_math_cross3(xx + 169, xx + 208, xx + 325); |
| 8316 | xx[656] = motionData[441]; |
| 8317 | xx[657] = motionData[442]; |
| 8318 | xx[658] = motionData[443]; |
| 8319 | xx[659] = motionData[444]; |
| 8320 | xx[133] = xx[55] * state[49] - xx[56] * state[46]; |
| 8321 | xx[137] = xx[55] * state[48] + xx[56] * state[47]; |
| 8322 | xx[150] = - xx[137]; |
| 8323 | xx[169] = xx[56] * state[48] - xx[55] * state[47]; |
| 8324 | xx[170] = - xx[169]; |
| 8325 | xx[171] = xx[55] * state[46] + xx[56] * state[49]; |
| 8326 | xx[55] = - xx[171]; |
| 8327 | xx[660] = xx[133]; |
| 8328 | xx[661] = xx[150]; |
| 8329 | xx[662] = xx[170]; |
| 8330 | xx[663] = xx[55]; |
| 8331 | pm_math_quatCompose(xx + 656, xx + 660, xx + 664); |
| 8332 | pm_math_quatXform(xx + 664, xx + 247, xx + 208); |
| 8333 | pm_math_quatXform(xx + 660, xx + 99, xx + 247); |
| 8334 | pm_math_quatXform(xx + 656, xx + 247, xx + 99); |
| 8335 | pm_math_quatXform(xx + 664, xx + 253, xx + 247); |
| 8336 | pm_math_quatXform(xx + 660, xx + 105, xx + 253); |
| 8337 | pm_math_quatXform(xx + 656, xx + 253, xx + 105); |
| 8338 | xx[56] = xx[191] * xx[667]; |
| 8339 | xx[175] = xx[191] * xx[665] + xx[192] * xx[666]; |
| 8340 | xx[253] = - xx[56]; |
| 8341 | xx[254] = - (xx[192] * xx[667]); |
| 8342 | xx[255] = xx[175]; |
| 8343 | pm_math_cross3(xx + 665, xx + 253, xx + 660); |
| 8344 | xx[253] = xx[150]; |
| 8345 | xx[254] = xx[170]; |
| 8346 | xx[255] = xx[55]; |
| 8347 | xx[55] = xx[86] * xx[171]; |
| 8348 | xx[150] = xx[112] * xx[171]; |
| 8349 | xx[170] = xx[86] * xx[137] + xx[169] * xx[112]; |
| 8350 | xx[668] = xx[55]; |
| 8351 | xx[669] = xx[150]; |
| 8352 | xx[670] = - xx[170]; |
| 8353 | pm_math_cross3(xx + 253, xx + 668, xx + 671); |
| 8354 | xx[253] = xx[4] * (xx[671] + xx[55] * xx[133]) - xx[112]; |
| 8355 | xx[254] = xx[86] + (xx[150] * xx[133] + xx[672]) * xx[4]; |
| 8356 | xx[255] = (xx[673] - xx[170] * xx[133]) * xx[4]; |
| 8357 | pm_math_quatXform(xx + 656, xx + 253, xx + 169); |
| 8358 | J[6] = xx[16] + motionData[271] + (xx[30] - xx[3] * xx[1]) * xx[4] + xx[33]; |
| 8359 | J[7] = xx[41] + xx[48] + xx[4] * (xx[58] - xx[34] * motionData[14]); |
| 8360 | J[8] = xx[93] + xx[96]; |
| 8361 | J[9] = xx[79] + xx[87]; |
| 8362 | J[10] = xx[108] + xx[114]; |
| 8363 | J[11] = xx[139] + xx[145]; |
| 8364 | J[12] = xx[157] + xx[163]; |
| 8365 | J[13] = xx[166] + xx[134]; |
| 8366 | J[14] = xx[151] + xx[149] + xx[4] * (xx[180] - xx[123] * motionData[217]); |
| 8367 | J[15] = xx[4] * (xx[193] - xx[177] * xx[188]) + xx[190] + xx[4] * (xx[202] - |
| 8368 | xx[178] * motionData[224]) + xx[8]; |
| 8369 | J[30] = - (xx[205] + motionData[243] + (xx[217] - xx[187] * xx[186]) * xx[4] + |
| 8370 | xx[4] * (xx[201] * xx[211] - xx[187] * xx[212])); |
| 8371 | J[31] = - (xx[220] + xx[225] + xx[4] * (xx[232] - xx[213] * motionData[126])); |
| 8372 | J[32] = - (xx[250] + xx[256]); |
| 8373 | J[33] = - (xx[259] + xx[238]); |
| 8374 | J[34] = - (xx[4] * (xx[265] - xx[242] * xx[196]) + xx[235] - xx[192]); |
| 8375 | J[51] = xx[17] + (xx[31] - xx[3] * xx[10]) * xx[4] - (motionData[270] - xx[223]) |
| 8376 | - xx[27]; |
| 8377 | J[52] = xx[42] + xx[46] + (xx[53] * motionData[14] + xx[59]) * xx[4]; |
| 8378 | J[53] = xx[94] + xx[97]; |
| 8379 | J[54] = xx[80] + xx[88]; |
| 8380 | J[55] = xx[109] + xx[115]; |
| 8381 | J[56] = xx[140] + xx[146]; |
| 8382 | J[57] = xx[158] + xx[164]; |
| 8383 | J[58] = xx[167] + xx[135]; |
| 8384 | J[59] = xx[152] + xx[138] + (xx[128] * motionData[217] + xx[181]) * xx[4]; |
| 8385 | J[60] = (xx[177] * xx[189] + xx[194]) * xx[4] + xx[183] + (xx[179] * |
| 8386 | motionData[224] + xx[203]) * xx[4] + xx[6]; |
| 8387 | J[75] = - (xx[206] + (xx[218] - xx[187] * xx[198]) * xx[4] - (motionData[242] |
| 8388 | - (xx[212] * xx[197] + xx[211] * xx[199]) * xx[4]) - xx[27]); |
| 8389 | J[76] = - (xx[221] + xx[215] + (xx[214] * motionData[126] + xx[233]) * xx[4]); |
| 8390 | J[77] = - (xx[251] + xx[257]); |
| 8391 | J[78] = - (xx[260] + xx[239]); |
| 8392 | J[79] = - ((xx[266] - xx[192] * xx[242] * xx[245]) * xx[4] + xx[236] + xx[191]); |
| 8393 | J[96] = xx[18] + xx[4] * (xx[32] - xx[3] * xx[23]) + xx[224]; |
| 8394 | J[97] = xx[43] + (xx[54] * motionData[14] + xx[60]) * xx[4]; |
| 8395 | J[98] = xx[95] + xx[98]; |
| 8396 | J[99] = xx[81] + xx[89]; |
| 8397 | J[100] = xx[110] + xx[116]; |
| 8398 | J[101] = xx[141] + xx[147]; |
| 8399 | J[102] = xx[159] + xx[165]; |
| 8400 | J[103] = xx[168] + xx[136]; |
| 8401 | J[104] = xx[153] + (xx[176] * motionData[217] + xx[182]) * xx[4]; |
| 8402 | J[105] = (xx[177] * xx[184] + xx[195]) * xx[4] + (xx[185] * motionData[224] + |
| 8403 | xx[204]) * xx[4]; |
| 8404 | J[120] = - (xx[207] + xx[4] * (xx[219] - xx[200] * xx[187]) + (xx[187] * xx |
| 8405 | [211] + xx[201] * xx[212]) * xx[4]); |
| 8406 | J[121] = - (xx[222] + (xx[216] * motionData[126] + xx[234]) * xx[4]); |
| 8407 | J[122] = - (xx[252] + xx[258]); |
| 8408 | J[123] = - (xx[261] + xx[240]); |
| 8409 | J[124] = - ((xx[242] * xx[241] + xx[267]) * xx[4] + xx[237]); |
| 8410 | J[141] = xx[226] + motionData[327] + (xx[268] - xx[3] * xx[28]) * xx[4] + xx |
| 8411 | [33]; |
| 8412 | J[142] = xx[262] + xx[231] + xx[4] * (xx[274] - xx[230] * motionData[14]); |
| 8413 | J[143] = xx[285] + xx[291]; |
| 8414 | J[144] = xx[271] + xx[277]; |
| 8415 | J[145] = xx[288] + xx[280]; |
| 8416 | J[146] = xx[302] + xx[307]; |
| 8417 | J[147] = xx[313] + xx[319]; |
| 8418 | J[148] = xx[310] + xx[299]; |
| 8419 | J[149] = xx[294] + xx[297] + xx[4] * (xx[322] - xx[283] * motionData[217]); |
| 8420 | J[151] = xx[4] * (xx[343] + xx[339] * xx[318]) + xx[346] - xx[8]; |
| 8421 | J[160] = - (xx[349] + xx[4] * (xx[355] - xx[329] * xx[317]) - motionData[299] |
| 8422 | + xx[4] * (xx[352] * xx[337] - xx[353] * xx[317])); |
| 8423 | J[161] = - (xx[360] + xx[366] + xx[4] * (xx[373] - xx[354] * motionData[105])); |
| 8424 | J[162] = - (xx[387] + xx[393]); |
| 8425 | J[163] = - (xx[390] + xx[379]); |
| 8426 | J[164] = - (xx[4] * (xx[400] - xx[383] * xx[382]) + xx[376] - xx[192]); |
| 8427 | J[186] = xx[227] + (xx[269] - xx[3] * xx[29]) * xx[4] - (motionData[326] - xx |
| 8428 | [223]) - xx[27]; |
| 8429 | J[187] = xx[263] + xx[243] + (xx[244] * motionData[14] + xx[275]) * xx[4]; |
| 8430 | J[188] = xx[286] + xx[292]; |
| 8431 | J[189] = xx[272] + xx[278]; |
| 8432 | J[190] = xx[289] + xx[281]; |
| 8433 | J[191] = xx[303] + xx[308]; |
| 8434 | J[192] = xx[314] + xx[320]; |
| 8435 | J[193] = xx[311] + xx[300]; |
| 8436 | J[194] = xx[295] + xx[298] + (xx[284] * motionData[217] + xx[323]) * xx[4]; |
| 8437 | J[196] = (xx[344] - xx[8] * xx[339] * xx[342]) * xx[4] + xx[347] - xx[6]; |
| 8438 | J[205] = - (xx[350] + motionData[298] + xx[4] * (xx[356] - xx[333] * xx[317]) |
| 8439 | - (xx[338] * xx[353] + xx[336] * xx[352]) * xx[4] + xx[341]); |
| 8440 | J[206] = - (xx[361] + xx[359] + (xx[358] * motionData[105] + xx[374]) * xx[4]); |
| 8441 | J[207] = - (xx[388] + xx[394]); |
| 8442 | J[208] = - (xx[391] + xx[380]); |
| 8443 | J[209] = - ((xx[401] - xx[192] * xx[383] * xx[386]) * xx[4] + xx[377] + xx[191]); |
| 8444 | J[231] = xx[228] + xx[4] * (xx[270] - xx[229] * xx[3]) + xx[224]; |
| 8445 | J[232] = xx[264] + (xx[246] * motionData[14] + xx[276]) * xx[4]; |
| 8446 | J[233] = xx[287] + xx[293]; |
| 8447 | J[234] = xx[273] + xx[279]; |
| 8448 | J[235] = xx[290] + xx[282]; |
| 8449 | J[236] = xx[304] + xx[309]; |
| 8450 | J[237] = xx[315] + xx[321]; |
| 8451 | J[238] = xx[312] + xx[301]; |
| 8452 | J[239] = xx[296] + (xx[305] * motionData[217] + xx[324]) * xx[4]; |
| 8453 | J[241] = (xx[339] * xx[332] + xx[345]) * xx[4] + xx[348]; |
| 8454 | J[250] = - (xx[351] + (xx[340] * xx[317] + xx[357]) * xx[4] + (xx[352] * xx |
| 8455 | [317] + xx[353] * xx[337]) * xx[4]); |
| 8456 | J[251] = - (xx[362] + (xx[363] * motionData[105] + xx[375]) * xx[4]); |
| 8457 | J[252] = - (xx[389] + xx[395]); |
| 8458 | J[253] = - (xx[392] + xx[381]); |
| 8459 | J[254] = - ((xx[383] * xx[396] + xx[402]) * xx[4] + xx[378]); |
| 8460 | J[276] = xx[367] + motionData[383] + (xx[403] - xx[3] * xx[364]) * xx[4] + xx |
| 8461 | [33]; |
| 8462 | J[277] = xx[397] + xx[372] + xx[4] * (xx[410] - xx[371] * motionData[14]); |
| 8463 | J[278] = xx[421] + xx[427]; |
| 8464 | J[279] = xx[407] + xx[413]; |
| 8465 | J[280] = xx[424] + xx[416]; |
| 8466 | J[281] = xx[438] + xx[443]; |
| 8467 | J[282] = xx[449] + xx[455]; |
| 8468 | J[283] = xx[446] + xx[435]; |
| 8469 | J[284] = xx[430] + xx[433] + xx[4] * (xx[458] - xx[419] * motionData[217]); |
| 8470 | J[287] = xx[4] * (xx[474] - xx[470] * xx[452]) + xx[464] + xx[8]; |
| 8471 | J[305] = - (xx[478] + motionData[355] + (xx[487] - xx[461] * xx[453]) * xx[4] |
| 8472 | - xx[4] * (xx[477] * xx[468] + xx[461] * xx[471])); |
| 8473 | J[306] = - (xx[484] + xx[493] + xx[4] * (xx[500] - xx[481] * motionData[147])); |
| 8474 | J[307] = - (xx[514] + xx[520]); |
| 8475 | J[308] = - (xx[517] + xx[506]); |
| 8476 | J[309] = - (xx[4] * (xx[527] - xx[510] * xx[509]) + xx[503] - xx[192]); |
| 8477 | J[321] = xx[368] + (xx[404] - xx[3] * xx[365]) * xx[4] - (motionData[382] - |
| 8478 | xx[223]) - xx[27]; |
| 8479 | J[322] = xx[398] + xx[384] + (xx[385] * motionData[14] + xx[411]) * xx[4]; |
| 8480 | J[323] = xx[422] + xx[428]; |
| 8481 | J[324] = xx[408] + xx[414]; |
| 8482 | J[325] = xx[425] + xx[417]; |
| 8483 | J[326] = xx[439] + xx[444]; |
| 8484 | J[327] = xx[450] + xx[456]; |
| 8485 | J[328] = xx[447] + xx[436]; |
| 8486 | J[329] = xx[431] + xx[434] + (xx[420] * motionData[217] + xx[459]) * xx[4]; |
| 8487 | J[332] = (xx[8] * xx[470] * xx[473] + xx[475]) * xx[4] + xx[465] + xx[6]; |
| 8488 | J[350] = - (xx[479] + (xx[488] - xx[461] * xx[462]) * xx[4] - (motionData[354] |
| 8489 | - (xx[471] * xx[469] + xx[468] * xx[472]) * xx[4]) - xx[27]); |
| 8490 | J[351] = - (xx[485] + xx[483] + (xx[482] * motionData[147] + xx[501]) * xx[4]); |
| 8491 | J[352] = - (xx[515] + xx[521]); |
| 8492 | J[353] = - (xx[518] + xx[507]); |
| 8493 | J[354] = - ((xx[528] - xx[192] * xx[510] * xx[513]) * xx[4] + xx[504] + xx[191]); |
| 8494 | J[366] = xx[369] + xx[4] * (xx[405] - xx[370] * xx[3]) + xx[224]; |
| 8495 | J[367] = xx[399] + (xx[406] * motionData[14] + xx[412]) * xx[4]; |
| 8496 | J[368] = xx[423] + xx[429]; |
| 8497 | J[369] = xx[409] + xx[415]; |
| 8498 | J[370] = xx[426] + xx[418]; |
| 8499 | J[371] = xx[440] + xx[445]; |
| 8500 | J[372] = xx[451] + xx[457]; |
| 8501 | J[373] = xx[448] + xx[437]; |
| 8502 | J[374] = xx[432] + (xx[441] * motionData[217] + xx[460]) * xx[4]; |
| 8503 | J[377] = (xx[470] * xx[454] + xx[476]) * xx[4] + xx[466]; |
| 8504 | J[395] = - (xx[480] + xx[4] * (xx[489] - xx[461] * xx[467]) + (xx[477] * xx |
| 8505 | [471] - xx[461] * xx[468]) * xx[4]); |
| 8506 | J[396] = - (xx[486] + (xx[490] * motionData[147] + xx[502]) * xx[4]); |
| 8507 | J[397] = - (xx[516] + xx[522]); |
| 8508 | J[398] = - (xx[519] + xx[508]); |
| 8509 | J[399] = - ((xx[510] * xx[523] + xx[529]) * xx[4] + xx[505]); |
| 8510 | J[411] = xx[494] + motionData[439] + (xx[530] - xx[3] * xx[491]) * xx[4] + xx |
| 8511 | [33]; |
| 8512 | J[412] = xx[524] + xx[499] + xx[4] * (xx[537] - xx[498] * motionData[14]); |
| 8513 | J[413] = xx[548] + xx[554]; |
| 8514 | J[414] = xx[534] + xx[540]; |
| 8515 | J[415] = xx[551] + xx[543]; |
| 8516 | J[416] = xx[565] + xx[570]; |
| 8517 | J[417] = xx[576] + xx[582]; |
| 8518 | J[418] = xx[573] + xx[562]; |
| 8519 | J[419] = xx[557] + xx[560] + xx[4] * (xx[585] - xx[546] * motionData[217]); |
| 8520 | J[423] = xx[4] * (xx[596] - xx[592] * xx[569]) + xx[599] + xx[8]; |
| 8521 | J[445] = - (xx[602] + motionData[411] + (xx[463] * xx[442] + xx[611]) * xx[4] |
| 8522 | + xx[4] * (xx[594] * xx[588] + xx[463] * xx[590])); |
| 8523 | J[446] = - (xx[607] + xx[616] + xx[4] * (xx[623] - xx[593] * motionData[168])); |
| 8524 | J[447] = - (xx[637] + xx[643]); |
| 8525 | J[448] = - (xx[640] + xx[629]); |
| 8526 | J[449] = - (xx[4] * (xx[650] - xx[633] * xx[632]) + xx[626] - xx[192]); |
| 8527 | J[456] = xx[495] + (xx[531] - xx[3] * xx[492]) * xx[4] - (motionData[438] - |
| 8528 | xx[223]) - xx[27]; |
| 8529 | J[457] = xx[525] + xx[511] + (xx[512] * motionData[14] + xx[538]) * xx[4]; |
| 8530 | J[458] = xx[549] + xx[555]; |
| 8531 | J[459] = xx[535] + xx[541]; |
| 8532 | J[460] = xx[552] + xx[544]; |
| 8533 | J[461] = xx[566] + xx[571]; |
| 8534 | J[462] = xx[577] + xx[583]; |
| 8535 | J[463] = xx[574] + xx[563]; |
| 8536 | J[464] = xx[558] + xx[561] + (xx[547] * motionData[217] + xx[586]) * xx[4]; |
| 8537 | J[468] = (xx[8] * xx[592] * xx[595] + xx[597]) * xx[4] + xx[600] + xx[6]; |
| 8538 | J[490] = - (xx[603] + (xx[463] * xx[579] + xx[612]) * xx[4] - (motionData[410] |
| 8539 | - (xx[590] * xx[589] + xx[588] * xx[591]) * xx[4]) - xx[27]); |
| 8540 | J[491] = - (xx[608] + xx[606] + (xx[605] * motionData[168] + xx[624]) * xx[4]); |
| 8541 | J[492] = - (xx[638] + xx[644]); |
| 8542 | J[493] = - (xx[641] + xx[630]); |
| 8543 | J[494] = - ((xx[651] - xx[192] * xx[633] * xx[636]) * xx[4] + xx[627] + xx[191]); |
| 8544 | J[501] = xx[496] + xx[4] * (xx[532] - xx[497] * xx[3]) + xx[224]; |
| 8545 | J[502] = xx[526] + (xx[533] * motionData[14] + xx[539]) * xx[4]; |
| 8546 | J[503] = xx[550] + xx[556]; |
| 8547 | J[504] = xx[536] + xx[542]; |
| 8548 | J[505] = xx[553] + xx[545]; |
| 8549 | J[506] = xx[567] + xx[572]; |
| 8550 | J[507] = xx[578] + xx[584]; |
| 8551 | J[508] = xx[575] + xx[564]; |
| 8552 | J[509] = xx[559] + (xx[568] * motionData[217] + xx[587]) * xx[4]; |
| 8553 | J[513] = (xx[592] * xx[580] + xx[598]) * xx[4] + xx[601]; |
| 8554 | J[535] = - (xx[604] + xx[4] * (xx[613] - xx[463] * xx[581]) + (xx[463] * xx |
| 8555 | [588] - xx[594] * xx[590]) * xx[4]); |
| 8556 | J[536] = - (xx[609] + (xx[610] * motionData[168] + xx[625]) * xx[4]); |
| 8557 | J[537] = - (xx[639] + xx[645]); |
| 8558 | J[538] = - (xx[642] + xx[631]); |
| 8559 | J[539] = - ((xx[633] * xx[646] + xx[652]) * xx[4] + xx[628]); |
| 8560 | J[546] = xx[12] + motionData[495] + (xx[620] - xx[3] * xx[15]) * xx[4] + xx[33]; |
| 8561 | J[547] = xx[20] + xx[11] + xx[4] * (xx[617] - xx[9] * motionData[14]); |
| 8562 | J[548] = xx[49] + xx[102]; |
| 8563 | J[549] = xx[38] + xx[74]; |
| 8564 | J[550] = xx[71] + xx[90]; |
| 8565 | J[551] = xx[62] + xx[647]; |
| 8566 | J[552] = xx[129] + xx[154]; |
| 8567 | J[553] = xx[653] + xx[65]; |
| 8568 | J[554] = xx[24] + xx[45] + xx[4] * (xx[82] - xx[19] * motionData[217]); |
| 8569 | J[559] = xx[4] * (xx[120] + xx[124] * xx[68]) + xx[142] - xx[8]; |
| 8570 | J[560] = - (xx[117] + xx[4] * (xx[172] - xx[61] * xx[57]) - motionData[467] + |
| 8571 | xx[4] * (xx[113] * xx[78] - xx[125] * xx[57])); |
| 8572 | J[561] = - (xx[160] + xx[148] + xx[4] * (xx[325] - xx[2] * motionData[84])); |
| 8573 | J[562] = - (xx[208] + xx[99]); |
| 8574 | J[563] = - (xx[247] + xx[105]); |
| 8575 | J[564] = - (xx[4] * (xx[660] - xx[664] * xx[56]) + xx[169] - xx[192]); |
| 8576 | J[591] = xx[13] + (xx[621] - xx[3] * xx[614]) * xx[4] - (motionData[494] - xx |
| 8577 | [223]) - xx[27]; |
| 8578 | J[592] = xx[21] + xx[36] + (xx[35] * motionData[14] + xx[618]) * xx[4]; |
| 8579 | J[593] = xx[50] + xx[103]; |
| 8580 | J[594] = xx[39] + xx[75]; |
| 8581 | J[595] = xx[72] + xx[91]; |
| 8582 | J[596] = xx[63] + xx[648]; |
| 8583 | J[597] = xx[130] + xx[155]; |
| 8584 | J[598] = xx[654] + xx[66]; |
| 8585 | J[599] = xx[25] + xx[47] + (xx[44] * motionData[217] + xx[83]) * xx[4]; |
| 8586 | J[604] = (xx[121] - xx[8] * xx[124] * xx[127]) * xx[4] + xx[143] - xx[6]; |
| 8587 | J[605] = - (xx[118] + motionData[466] + xx[4] * (xx[173] - xx[69] * xx[57]) - |
| 8588 | (xx[85] * xx[125] + xx[70] * xx[113]) * xx[4] + xx[27]); |
| 8589 | J[606] = - (xx[161] + xx[132] + (xx[5] * motionData[84] + xx[326]) * xx[4]); |
| 8590 | J[607] = - (xx[209] + xx[100]); |
| 8591 | J[608] = - (xx[248] + xx[106]); |
| 8592 | J[609] = - ((xx[661] - xx[192] * xx[664] * xx[667]) * xx[4] + xx[170] + xx[191]); |
| 8593 | J[636] = xx[14] + xx[4] * (xx[622] - xx[7] * xx[3]) + xx[224]; |
| 8594 | J[637] = xx[22] + (xx[37] * motionData[14] + xx[619]) * xx[4]; |
| 8595 | J[638] = xx[51] + xx[104]; |
| 8596 | J[639] = xx[40] + xx[76]; |
| 8597 | J[640] = xx[73] + xx[92]; |
| 8598 | J[641] = xx[64] + xx[649]; |
| 8599 | J[642] = xx[131] + xx[156]; |
| 8600 | J[643] = xx[655] + xx[67]; |
| 8601 | J[644] = xx[26] + (xx[52] * motionData[217] + xx[84]) * xx[4]; |
| 8602 | J[649] = (xx[124] * xx[77] + xx[122]) * xx[4] + xx[144]; |
| 8603 | J[650] = - (xx[119] + (xx[111] * xx[57] + xx[174]) * xx[4] + (xx[113] * xx[57] |
| 8604 | + xx[125] * xx[78]) * xx[4]); |
| 8605 | J[651] = - (xx[162] + (xx[126] * motionData[84] + xx[327]) * xx[4]); |
| 8606 | J[652] = - (xx[210] + xx[101]); |
| 8607 | J[653] = - (xx[249] + xx[107]); |
| 8608 | J[654] = - ((xx[664] * xx[175] + xx[662]) * xx[4] + xx[171]); |
| 8609 | return 15; |
| 8610 | } |
| 8611 | |
| 8612 | static int isInKinematicSingularity_0(const double *rtdv, const double |
| 8613 | *motionData) |
| 8614 | { |
| 8615 | (void) rtdv; |
| 8616 | (void) motionData; |
| 8617 | return 0; |
| 8618 | } |
| 8619 | |
| 8620 | static int isInKinematicSingularity_1(const double *rtdv, const double |
| 8621 | *motionData) |
| 8622 | { |
| 8623 | (void) rtdv; |
| 8624 | (void) motionData; |
| 8625 | return 0; |
| 8626 | } |
| 8627 | |
| 8628 | static int isInKinematicSingularity_2(const double *rtdv, const double |
| 8629 | *motionData) |
| 8630 | { |
| 8631 | (void) rtdv; |
| 8632 | (void) motionData; |
| 8633 | return 0; |
| 8634 | } |
| 8635 | |
| 8636 | static int isInKinematicSingularity_3(const double *rtdv, const double |
| 8637 | *motionData) |
| 8638 | { |
| 8639 | (void) rtdv; |
| 8640 | (void) motionData; |
| 8641 | return 0; |
| 8642 | } |
| 8643 | |
| 8644 | static int isInKinematicSingularity_4(const double *rtdv, const double |
| 8645 | *motionData) |
| 8646 | { |
| 8647 | (void) rtdv; |
| 8648 | (void) motionData; |
| 8649 | return 0; |
| 8650 | } |
| 8651 | |
| 8652 | int PlatformAssem_f0ca4364_1_isInKinematicSingularity(const void *mech, const |
| 8653 | double *rtdv, size_t constraintIdx, const double *motionData) |
| 8654 | { |
| 8655 | (void) mech; |
| 8656 | (void) rtdv |
| 8657 | ; |
| 8658 | (void) motionData; |
| 8659 | switch (constraintIdx) |
| 8660 | { |
| 8661 | case 0: |
| 8662 | return isInKinematicSingularity_0(rtdv, motionData); |
| 8663 | |
| 8664 | case 1: |
| 8665 | return isInKinematicSingularity_1(rtdv, motionData); |
| 8666 | |
| 8667 | case 2: |
| 8668 | return isInKinematicSingularity_2(rtdv, motionData); |
| 8669 | |
| 8670 | case 3: |
| 8671 | return isInKinematicSingularity_3(rtdv, motionData); |
| 8672 | |
| 8673 | case 4: |
| 8674 | return isInKinematicSingularity_4(rtdv, motionData); |
| 8675 | } |
| 8676 | |
| 8677 | return 0; |
| 8678 | } |
| 8679 | |
| 8680 | PmfMessageId PlatformAssem_f0ca4364_1_convertStateVector(const void *asmMech, |
| 8681 | const double *rtdv, const void *simMech, const double *asmState, double |
| 8682 | *simState, void *neDiagMgr0) |
| 8683 | { |
| 8684 | NeuDiagnosticManager *neDiagMgr = (NeuDiagnosticManager *) neDiagMgr0; |
| 8685 | double xx[60]; |
| 8686 | (void) asmMech; |
| 8687 | (void) rtdv; |
| 8688 | (void) simMech; |
| 8689 | (void) neDiagMgr; |
| 8690 | xx[0] = 3.980251340548381e-7; |
| 8691 | xx[1] = 0.7058357201813958; |
| 8692 | xx[2] = 0.5; |
| 8693 | xx[3] = xx[2] * asmState[42]; |
| 8694 | xx[4] = sin(xx[3]); |
| 8695 | xx[5] = 0.7058407546227096; |
| 8696 | xx[6] = cos(xx[3]); |
| 8697 | xx[3] = xx[1] * xx[4] - xx[5] * xx[6]; |
| 8698 | xx[7] = xx[2] * asmState[44]; |
| 8699 | xx[8] = cos(xx[7]); |
| 8700 | xx[9] = sin(xx[7]); |
| 8701 | xx[7] = xx[1] * xx[6] + xx[5] * xx[4]; |
| 8702 | xx[1] = 0.04233709306330295; |
| 8703 | xx[5] = 0.04233598682685397; |
| 8704 | xx[10] = xx[1] * xx[6] + xx[5] * xx[4]; |
| 8705 | xx[11] = xx[1] * xx[4] - xx[5] * xx[6]; |
| 8706 | xx[12] = xx[3] * xx[8] - xx[9] * xx[7]; |
| 8707 | xx[13] = - (xx[8] * xx[10] + xx[11] * xx[9]); |
| 8708 | xx[14] = xx[9] * xx[10] - xx[11] * xx[8]; |
| 8709 | xx[15] = xx[3] * xx[9] + xx[8] * xx[7]; |
| 8710 | xx[1] = 3.980251324392935e-7; |
| 8711 | xx[4] = 0.999999999999921; |
| 8712 | xx[16] = xx[1] * asmState[49] - xx[4] * asmState[46]; |
| 8713 | xx[17] = - (xx[1] * asmState[48] + xx[4] * asmState[47]); |
| 8714 | xx[18] = - (xx[4] * asmState[48] - xx[1] * asmState[47]); |
| 8715 | xx[19] = - (xx[1] * asmState[46] + xx[4] * asmState[49]); |
| 8716 | pm_math_quatCompose(xx + 12, xx + 16, xx + 20); |
| 8717 | xx[5] = xx[2] * asmState[30]; |
| 8718 | xx[6] = cos(xx[5]); |
| 8719 | xx[12] = xx[2] * asmState[14]; |
| 8720 | xx[13] = cos(xx[12]); |
| 8721 | xx[14] = 0.5901074779979933; |
| 8722 | xx[15] = xx[2] * asmState[12]; |
| 8723 | xx[24] = cos(xx[15]); |
| 8724 | xx[25] = 0.5901036711621462; |
| 8725 | xx[26] = sin(xx[15]); |
| 8726 | xx[15] = xx[14] * xx[24] + xx[25] * xx[26]; |
| 8727 | xx[27] = xx[25] * xx[24] - xx[14] * xx[26]; |
| 8728 | xx[14] = sin(xx[12]); |
| 8729 | xx[12] = 0.3895853754265615; |
| 8730 | xx[25] = 0.389581900177037; |
| 8731 | xx[28] = xx[12] * xx[24] - xx[25] * xx[26]; |
| 8732 | xx[29] = xx[25] * xx[24] + xx[12] * xx[26]; |
| 8733 | xx[30] = - (xx[13] * xx[15] + xx[27] * xx[14]); |
| 8734 | xx[31] = - (xx[28] * xx[13] - xx[14] * xx[29]); |
| 8735 | xx[32] = xx[28] * xx[14] + xx[13] * xx[29]; |
| 8736 | xx[33] = xx[27] * xx[13] - xx[14] * xx[15]; |
| 8737 | xx[34] = xx[1] * asmState[19] - xx[4] * asmState[16]; |
| 8738 | xx[35] = - (xx[1] * asmState[18] + xx[4] * asmState[17]); |
| 8739 | xx[36] = - (xx[4] * asmState[18] - xx[1] * asmState[17]); |
| 8740 | xx[37] = - (xx[1] * asmState[16] + xx[4] * asmState[19]); |
| 8741 | pm_math_quatCompose(xx + 30, xx + 34, xx + 38); |
| 8742 | xx[30] = xx[4] * asmState[26] - xx[0] * asmState[23]; |
| 8743 | xx[31] = xx[4] * asmState[25] - xx[0] * asmState[24]; |
| 8744 | xx[32] = - (xx[0] * asmState[25] + xx[4] * asmState[24]); |
| 8745 | xx[33] = - (xx[0] * asmState[26] + xx[4] * asmState[23]); |
| 8746 | pm_math_quatCompose(xx + 38, xx + 30, xx + 42); |
| 8747 | xx[12] = sin(xx[5]); |
| 8748 | xx[38] = xx[6] * xx[42] - xx[45] * xx[12]; |
| 8749 | xx[39] = xx[6] * xx[43] + xx[44] * xx[12]; |
| 8750 | xx[40] = xx[6] * xx[44] - xx[43] * xx[12]; |
| 8751 | xx[41] = xx[42] * xx[12] + xx[6] * xx[45]; |
| 8752 | xx[5] = 0.6123724356957949; |
| 8753 | xx[24] = xx[2] * asmState[40]; |
| 8754 | xx[25] = sin(xx[24]); |
| 8755 | xx[26] = xx[5] * xx[25]; |
| 8756 | xx[42] = cos(xx[24]); |
| 8757 | xx[24] = xx[5] * xx[42]; |
| 8758 | xx[5] = 0.3535533905932732; |
| 8759 | xx[43] = xx[5] * xx[42]; |
| 8760 | xx[42] = xx[5] * xx[25]; |
| 8761 | xx[44] = xx[26] - xx[24]; |
| 8762 | xx[45] = - (xx[43] + xx[42]); |
| 8763 | xx[46] = xx[42] - xx[43]; |
| 8764 | xx[47] = - (xx[26] + xx[24]); |
| 8765 | pm_math_quatCompose(xx + 38, xx + 44, xx + 48); |
| 8766 | pm_math_quatInverseCompose(xx + 20, xx + 48, xx + 38); |
| 8767 | xx[20] = xx[28]; |
| 8768 | xx[21] = - xx[15]; |
| 8769 | xx[22] = xx[27]; |
| 8770 | xx[23] = - xx[29]; |
| 8771 | xx[5] = 0.9982060081755033; |
| 8772 | xx[15] = xx[2] * asmState[6]; |
| 8773 | xx[24] = cos(xx[15]); |
| 8774 | xx[25] = 7.822272946646824e-7; |
| 8775 | xx[26] = sin(xx[15]); |
| 8776 | xx[15] = 0.05987290897428056; |
| 8777 | xx[27] = 3.559887592452546e-6; |
| 8778 | xx[48] = - (xx[5] * xx[24] + xx[25] * xx[26]); |
| 8779 | xx[49] = xx[25] * xx[24] - xx[5] * xx[26]; |
| 8780 | xx[50] = - (xx[15] * xx[24] + xx[27] * xx[26]); |
| 8781 | xx[51] = xx[27] * xx[24] - xx[15] * xx[26]; |
| 8782 | xx[5] = xx[2] * asmState[7]; |
| 8783 | xx[15] = 7.200670813652432e-6; |
| 8784 | xx[24] = sin(xx[5]); |
| 8785 | xx[25] = 0.9999999999734306; |
| 8786 | xx[26] = 1.135366319023148e-6; |
| 8787 | xx[52] = cos(xx[5]); |
| 8788 | xx[53] = - (xx[15] * xx[24]); |
| 8789 | xx[54] = xx[25] * xx[24]; |
| 8790 | xx[55] = xx[26] * xx[24]; |
| 8791 | pm_math_quatCompose(xx + 48, xx + 52, xx + 56); |
| 8792 | xx[5] = xx[2] * asmState[8]; |
| 8793 | xx[2] = 0.1195309949245745; |
| 8794 | xx[24] = sin(xx[5]); |
| 8795 | xx[27] = 1.987929622149476e-6; |
| 8796 | xx[28] = 0.9928304695406913; |
| 8797 | xx[48] = cos(xx[5]); |
| 8798 | xx[49] = - (xx[2] * xx[24]); |
| 8799 | xx[50] = - (xx[27] * xx[24]); |
| 8800 | xx[51] = xx[28] * xx[24]; |
| 8801 | pm_math_quatCompose(xx + 56, xx + 48, xx + 52); |
| 8802 | xx[5] = 2.0; |
| 8803 | xx[56] = - xx[15]; |
| 8804 | xx[57] = xx[25]; |
| 8805 | xx[58] = xx[26]; |
| 8806 | pm_math_quatInverseXform(xx + 48, xx + 56, xx + 24); |
| 8807 | xx[48] = (1.0 - (xx[54] * xx[54] + xx[55] * xx[55]) * xx[5]) * asmState[9] + |
| 8808 | xx[24] * asmState[10] - xx[2] * asmState[11]; |
| 8809 | xx[49] = xx[5] * (xx[53] * xx[54] - xx[52] * xx[55]) * asmState[9] + xx[25] * |
| 8810 | asmState[10] - xx[27] * asmState[11]; |
| 8811 | xx[50] = xx[5] * (xx[52] * xx[54] + xx[53] * xx[55]) * asmState[9] + xx[26] * |
| 8812 | asmState[10] + xx[28] * asmState[11]; |
| 8813 | pm_math_quatInverseXform(xx + 20, xx + 48, xx + 24); |
| 8814 | xx[2] = xx[13] * xx[25] + xx[24] * xx[14]; |
| 8815 | xx[15] = xx[26] - asmState[13]; |
| 8816 | xx[20] = xx[24] - xx[5] * xx[2] * xx[14]; |
| 8817 | xx[21] = xx[25] - xx[5] * xx[2] * xx[13]; |
| 8818 | xx[22] = xx[15] - (xx[13] * xx[13] * xx[15] + xx[14] * xx[15] * xx[14]) * xx[5] |
| 8819 | + asmState[15]; |
| 8820 | pm_math_quatInverseXform(xx + 34, xx + 20, xx + 13); |
| 8821 | xx[2] = xx[1] * asmState[20]; |
| 8822 | xx[20] = xx[1] * asmState[21]; |
| 8823 | xx[21] = xx[13] + asmState[20] - (xx[1] * xx[2] - xx[4] * xx[20]) * xx[5]; |
| 8824 | xx[22] = xx[14] + asmState[21] - xx[5] * (xx[4] * xx[2] + xx[1] * xx[20]); |
| 8825 | xx[23] = xx[15] + asmState[22]; |
| 8826 | pm_math_quatInverseXform(xx + 30, xx + 21, xx + 13); |
| 8827 | xx[2] = xx[13] + asmState[27]; |
| 8828 | xx[20] = xx[14] + asmState[28]; |
| 8829 | xx[21] = xx[20] * xx[12]; |
| 8830 | xx[22] = xx[2] * xx[12]; |
| 8831 | xx[23] = xx[2] + xx[5] * (xx[6] * xx[21] - xx[22] * xx[12]); |
| 8832 | xx[24] = xx[20] - (xx[6] * xx[22] + xx[21] * xx[12]) * xx[5]; |
| 8833 | xx[25] = xx[15] + asmState[29] + asmState[31]; |
| 8834 | pm_math_quatInverseXform(xx + 44, xx + 23, xx + 12); |
| 8835 | xx[20] = xx[10]; |
| 8836 | xx[21] = xx[3]; |
| 8837 | xx[22] = xx[7]; |
| 8838 | xx[23] = xx[11]; |
| 8839 | pm_math_quatInverseXform(xx + 20, xx + 48, xx + 24); |
| 8840 | xx[2] = xx[8] * xx[25] + xx[24] * xx[9]; |
| 8841 | xx[3] = xx[26] + asmState[43]; |
| 8842 | xx[20] = xx[24] - xx[5] * xx[2] * xx[9]; |
| 8843 | xx[21] = xx[25] - xx[5] * xx[2] * xx[8]; |
| 8844 | xx[22] = xx[3] - (xx[8] * xx[3] * xx[8] + xx[3] * xx[9] * xx[9]) * xx[5] + |
| 8845 | asmState[45]; |
| 8846 | pm_math_quatInverseXform(xx + 16, xx + 20, xx + 6); |
| 8847 | xx[2] = xx[1] * asmState[50]; |
| 8848 | xx[3] = xx[1] * asmState[51]; |
| 8849 | xx[9] = xx[6] + asmState[50] - (xx[1] * xx[2] - xx[4] * xx[3]) * xx[5]; |
| 8850 | xx[10] = xx[7] + asmState[51] - xx[5] * (xx[4] * xx[2] + xx[1] * xx[3]); |
| 8851 | xx[11] = xx[8] + asmState[52]; |
| 8852 | pm_math_quatInverseXform(xx + 38, xx + 9, xx + 1); |
| 8853 | simState[0] = asmState[0]; |
| 8854 | simState[1] = asmState[1]; |
| 8855 | simState[2] = asmState[2]; |
| 8856 | simState[3] = asmState[3]; |
| 8857 | simState[4] = asmState[4]; |
| 8858 | simState[5] = asmState[5]; |
| 8859 | simState[6] = asmState[6]; |
| 8860 | simState[7] = asmState[7]; |
| 8861 | simState[8] = asmState[8]; |
| 8862 | simState[9] = asmState[9]; |
| 8863 | simState[10] = asmState[10]; |
| 8864 | simState[11] = asmState[11]; |
| 8865 | simState[12] = asmState[12]; |
| 8866 | simState[13] = asmState[13]; |
| 8867 | simState[14] = asmState[14]; |
| 8868 | simState[15] = asmState[15]; |
| 8869 | simState[16] = asmState[16]; |
| 8870 | simState[17] = asmState[17]; |
| 8871 | simState[18] = asmState[18]; |
| 8872 | simState[19] = asmState[19]; |
| 8873 | simState[20] = asmState[20]; |
| 8874 | simState[21] = asmState[21]; |
| 8875 | simState[22] = asmState[22]; |
| 8876 | simState[23] = asmState[42]; |
| 8877 | simState[24] = asmState[43]; |
| 8878 | simState[25] = asmState[44]; |
| 8879 | simState[26] = asmState[45]; |
| 8880 | simState[27] = asmState[46]; |
| 8881 | simState[28] = asmState[47]; |
| 8882 | simState[29] = asmState[48]; |
| 8883 | simState[30] = asmState[49]; |
| 8884 | simState[31] = asmState[50]; |
| 8885 | simState[32] = asmState[51]; |
| 8886 | simState[33] = asmState[52]; |
| 8887 | simState[34] = - (xx[0] * xx[38] + xx[4] * xx[41]); |
| 8888 | simState[35] = - (xx[0] * xx[39] + xx[4] * xx[40]); |
| 8889 | simState[36] = xx[4] * xx[39] - xx[0] * xx[40]; |
| 8890 | simState[37] = xx[4] * xx[38] - xx[0] * xx[41]; |
| 8891 | simState[38] = xx[12] - xx[1]; |
| 8892 | simState[39] = xx[13] - xx[2]; |
| 8893 | simState[40] = xx[14] + asmState[41] - xx[3]; |
| 8894 | simState[41] = asmState[40]; |
| 8895 | simState[42] = asmState[41]; |
| 8896 | simState[43] = asmState[32]; |
| 8897 | simState[44] = asmState[33]; |
| 8898 | simState[45] = asmState[34]; |
| 8899 | simState[46] = asmState[35]; |
| 8900 | simState[47] = asmState[36]; |
| 8901 | simState[48] = asmState[37]; |
| 8902 | simState[49] = asmState[38]; |
| 8903 | simState[50] = asmState[39]; |
| 8904 | simState[51] = asmState[30]; |
| 8905 | simState[52] = asmState[31]; |
| 8906 | simState[53] = asmState[53]; |
| 8907 | simState[54] = asmState[54]; |
| 8908 | simState[55] = asmState[55]; |
| 8909 | simState[56] = asmState[56]; |
| 8910 | simState[57] = asmState[57]; |
| 8911 | simState[58] = asmState[58]; |
| 8912 | simState[59] = asmState[59]; |
| 8913 | simState[60] = asmState[60]; |
| 8914 | simState[61] = asmState[61]; |
| 8915 | simState[62] = asmState[62]; |
| 8916 | simState[63] = asmState[63]; |
| 8917 | simState[64] = asmState[64]; |
| 8918 | simState[65] = asmState[65]; |
| 8919 | simState[66] = asmState[66]; |
| 8920 | simState[67] = asmState[67]; |
| 8921 | simState[68] = asmState[68]; |
| 8922 | simState[69] = asmState[69]; |
| 8923 | simState[70] = asmState[70]; |
| 8924 | simState[71] = asmState[71]; |
| 8925 | simState[72] = asmState[72]; |
| 8926 | simState[73] = asmState[73]; |
| 8927 | simState[74] = asmState[74]; |
| 8928 | simState[75] = asmState[75]; |
| 8929 | simState[76] = asmState[76]; |
| 8930 | simState[77] = asmState[77]; |
| 8931 | simState[78] = asmState[78]; |
| 8932 | simState[79] = asmState[79]; |
| 8933 | simState[80] = asmState[80]; |
| 8934 | simState[81] = asmState[81]; |
| 8935 | simState[82] = asmState[82]; |
| 8936 | simState[83] = asmState[83]; |
| 8937 | simState[84] = asmState[84]; |
| 8938 | simState[85] = asmState[85]; |
| 8939 | simState[86] = asmState[86]; |
| 8940 | simState[87] = asmState[87]; |
| 8941 | simState[88] = asmState[88]; |
| 8942 | simState[89] = asmState[89]; |
| 8943 | simState[90] = asmState[90]; |
| 8944 | simState[91] = asmState[91]; |
| 8945 | simState[92] = asmState[92]; |
| 8946 | simState[93] = asmState[93]; |
| 8947 | simState[94] = asmState[94]; |
| 8948 | simState[95] = asmState[95]; |
| 8949 | simState[96] = asmState[96]; |
| 8950 | return NULL; |
| 8951 | } |
| 8952 | |
| 8953 | void PlatformAssem_f0ca4364_1_constructStateVector(const void *mech, const |
| 8954 | double *solverState, const double *u, const double *uDot, double |
| 8955 | *discreteState, double *fullState) |
| 8956 | { |
| 8957 | (void) mech; |
| 8958 | (void) discreteState; |
| 8959 | fullState[0] = u[0]; |
| 8960 | fullState[1] = u[1]; |
| 8961 | fullState[2] = u[2]; |
| 8962 | fullState[3] = uDot[0]; |
| 8963 | fullState[4] = uDot[1]; |
| 8964 | fullState[5] = uDot[2]; |
| 8965 | fullState[6] = u[3]; |
| 8966 | fullState[7] = u[4]; |
| 8967 | fullState[8] = u[5]; |
| 8968 | fullState[9] = uDot[3]; |
| 8969 | fullState[10] = uDot[4]; |
| 8970 | fullState[11] = uDot[5]; |
| 8971 | fullState[12] = u[7]; |
| 8972 | fullState[13] = uDot[7]; |
| 8973 | fullState[14] = solverState[0]; |
| 8974 | fullState[15] = solverState[1]; |
| 8975 | fullState[16] = solverState[2]; |
| 8976 | fullState[17] = solverState[3]; |
| 8977 | fullState[18] = solverState[4]; |
| 8978 | fullState[19] = solverState[5]; |
| 8979 | fullState[20] = solverState[6]; |
| 8980 | fullState[21] = solverState[7]; |
| 8981 | fullState[22] = solverState[8]; |
| 8982 | fullState[23] = u[6]; |
| 8983 | fullState[24] = uDot[6]; |
| 8984 | fullState[25] = solverState[9]; |
| 8985 | fullState[26] = solverState[10]; |
| 8986 | fullState[27] = solverState[11]; |
| 8987 | fullState[28] = solverState[12]; |
| 8988 | fullState[29] = solverState[13]; |
| 8989 | fullState[30] = solverState[14]; |
| 8990 | fullState[31] = solverState[15]; |
| 8991 | fullState[32] = solverState[16]; |
| 8992 | fullState[33] = solverState[17]; |
| 8993 | fullState[34] = solverState[18]; |
| 8994 | fullState[35] = solverState[19]; |
| 8995 | fullState[36] = solverState[20]; |
| 8996 | fullState[37] = solverState[21]; |
| 8997 | fullState[38] = solverState[22]; |
| 8998 | fullState[39] = solverState[23]; |
| 8999 | fullState[40] = solverState[24]; |
| 9000 | fullState[41] = solverState[25]; |
| 9001 | fullState[42] = solverState[26]; |
| 9002 | fullState[43] = solverState[27]; |
| 9003 | fullState[44] = solverState[28]; |
| 9004 | fullState[45] = solverState[29]; |
| 9005 | fullState[46] = solverState[30]; |
| 9006 | fullState[47] = solverState[31]; |
| 9007 | fullState[48] = solverState[32]; |
| 9008 | fullState[49] = solverState[33]; |
| 9009 | fullState[50] = solverState[34]; |
| 9010 | fullState[51] = solverState[35]; |
| 9011 | fullState[52] = solverState[36]; |
| 9012 | fullState[53] = u[11]; |
| 9013 | fullState[54] = uDot[11]; |
| 9014 | fullState[55] = solverState[37]; |
| 9015 | fullState[56] = solverState[38]; |
| 9016 | fullState[57] = solverState[39]; |
| 9017 | fullState[58] = solverState[40]; |
| 9018 | fullState[59] = solverState[41]; |
| 9019 | fullState[60] = solverState[42]; |
| 9020 | fullState[61] = solverState[43]; |
| 9021 | fullState[62] = solverState[44]; |
| 9022 | fullState[63] = solverState[45]; |
| 9023 | fullState[64] = u[8]; |
| 9024 | fullState[65] = uDot[8]; |
| 9025 | fullState[66] = solverState[46]; |
| 9026 | fullState[67] = solverState[47]; |
| 9027 | fullState[68] = solverState[48]; |
| 9028 | fullState[69] = solverState[49]; |
| 9029 | fullState[70] = solverState[50]; |
| 9030 | fullState[71] = solverState[51]; |
| 9031 | fullState[72] = solverState[52]; |
| 9032 | fullState[73] = solverState[53]; |
| 9033 | fullState[74] = solverState[54]; |
| 9034 | fullState[75] = u[9]; |
| 9035 | fullState[76] = uDot[9]; |
| 9036 | fullState[77] = solverState[55]; |
| 9037 | fullState[78] = solverState[56]; |
| 9038 | fullState[79] = solverState[57]; |
| 9039 | fullState[80] = solverState[58]; |
| 9040 | fullState[81] = solverState[59]; |
| 9041 | fullState[82] = solverState[60]; |
| 9042 | fullState[83] = solverState[61]; |
| 9043 | fullState[84] = solverState[62]; |
| 9044 | fullState[85] = solverState[63]; |
| 9045 | fullState[86] = u[10]; |
| 9046 | fullState[87] = uDot[10]; |
| 9047 | fullState[88] = solverState[64]; |
| 9048 | fullState[89] = solverState[65]; |
| 9049 | fullState[90] = solverState[66]; |
| 9050 | fullState[91] = solverState[67]; |
| 9051 | fullState[92] = solverState[68]; |
| 9052 | fullState[93] = solverState[69]; |
| 9053 | fullState[94] = solverState[70]; |
| 9054 | fullState[95] = solverState[71]; |
| 9055 | fullState[96] = solverState[72]; |
| 9056 | } |
| 9057 | |
| 9058 | void PlatformAssem_f0ca4364_1_extractSolverStateVector(const void *mech, const |
| 9059 | double *fullState, double *solverState) |
| 9060 | { |
| 9061 | (void) mech; |
| 9062 | solverState[0] = fullState[14]; |
| 9063 | solverState[1] = fullState[15]; |
| 9064 | solverState[2] = fullState[16]; |
| 9065 | solverState[3] = fullState[17]; |
| 9066 | solverState[4] = fullState[18]; |
| 9067 | solverState[5] = fullState[19]; |
| 9068 | solverState[6] = fullState[20]; |
| 9069 | solverState[7] = fullState[21]; |
| 9070 | solverState[8] = fullState[22]; |
| 9071 | solverState[9] = fullState[25]; |
| 9072 | solverState[10] = fullState[26]; |
| 9073 | solverState[11] = fullState[27]; |
| 9074 | solverState[12] = fullState[28]; |
| 9075 | solverState[13] = fullState[29]; |
| 9076 | solverState[14] = fullState[30]; |
| 9077 | solverState[15] = fullState[31]; |
| 9078 | solverState[16] = fullState[32]; |
| 9079 | solverState[17] = fullState[33]; |
| 9080 | solverState[18] = fullState[34]; |
| 9081 | solverState[19] = fullState[35]; |
| 9082 | solverState[20] = fullState[36]; |
| 9083 | solverState[21] = fullState[37]; |
| 9084 | solverState[22] = fullState[38]; |
| 9085 | solverState[23] = fullState[39]; |
| 9086 | solverState[24] = fullState[40]; |
| 9087 | solverState[25] = fullState[41]; |
| 9088 | solverState[26] = fullState[42]; |
| 9089 | solverState[27] = fullState[43]; |
| 9090 | solverState[28] = fullState[44]; |
| 9091 | solverState[29] = fullState[45]; |
| 9092 | solverState[30] = fullState[46]; |
| 9093 | solverState[31] = fullState[47]; |
| 9094 | solverState[32] = fullState[48]; |
| 9095 | solverState[33] = fullState[49]; |
| 9096 | solverState[34] = fullState[50]; |
| 9097 | solverState[35] = fullState[51]; |
| 9098 | solverState[36] = fullState[52]; |
| 9099 | solverState[37] = fullState[55]; |
| 9100 | solverState[38] = fullState[56]; |
| 9101 | solverState[39] = fullState[57]; |
| 9102 | solverState[40] = fullState[58]; |
| 9103 | solverState[41] = fullState[59]; |
| 9104 | solverState[42] = fullState[60]; |
| 9105 | solverState[43] = fullState[61]; |
| 9106 | solverState[44] = fullState[62]; |
| 9107 | solverState[45] = fullState[63]; |
| 9108 | solverState[46] = fullState[66]; |
| 9109 | solverState[47] = fullState[67]; |
| 9110 | solverState[48] = fullState[68]; |
| 9111 | solverState[49] = fullState[69]; |
| 9112 | solverState[50] = fullState[70]; |
| 9113 | solverState[51] = fullState[71]; |
| 9114 | solverState[52] = fullState[72]; |
| 9115 | solverState[53] = fullState[73]; |
| 9116 | solverState[54] = fullState[74]; |
| 9117 | solverState[55] = fullState[77]; |
| 9118 | solverState[56] = fullState[78]; |
| 9119 | solverState[57] = fullState[79]; |
| 9120 | solverState[58] = fullState[80]; |
| 9121 | solverState[59] = fullState[81]; |
| 9122 | solverState[60] = fullState[82]; |
| 9123 | solverState[61] = fullState[83]; |
| 9124 | solverState[62] = fullState[84]; |
| 9125 | solverState[63] = fullState[85]; |
| 9126 | solverState[64] = fullState[88]; |
| 9127 | solverState[65] = fullState[89]; |
| 9128 | solverState[66] = fullState[90]; |
| 9129 | solverState[67] = fullState[91]; |
| 9130 | solverState[68] = fullState[92]; |
| 9131 | solverState[69] = fullState[93]; |
| 9132 | solverState[70] = fullState[94]; |
| 9133 | solverState[71] = fullState[95]; |
| 9134 | solverState[72] = fullState[96]; |
| 9135 | } |
| 9136 | |
| 9137 | int PlatformAssem_f0ca4364_1_isPositionViolation(const void *mech, const double * |
| 9138 | rtdv, const int *eqnEnableFlags, const double *state) |
| 9139 | { |
| 9140 | int ii[3]; |
| 9141 | double xx[151]; |
| 9142 | (void) mech; |
| 9143 | (void) rtdv; |
| 9144 | (void) eqnEnableFlags; |
| 9145 | xx[0] = 0.5; |
| 9146 | xx[1] = xx[0] * state[43]; |
| 9147 | xx[2] = cos(xx[1]); |
| 9148 | xx[3] = xx[0] * state[25]; |
| 9149 | xx[4] = sin(xx[3]); |
| 9150 | xx[5] = 0.7058357201813958; |
| 9151 | xx[6] = xx[0] * state[23]; |
| 9152 | xx[7] = cos(xx[6]); |
| 9153 | xx[8] = 0.7058407546227096; |
| 9154 | xx[9] = sin(xx[6]); |
| 9155 | xx[6] = xx[5] * xx[7] + xx[8] * xx[9]; |
| 9156 | xx[10] = xx[5] * xx[9] - xx[8] * xx[7]; |
| 9157 | xx[11] = cos(xx[3]); |
| 9158 | xx[3] = 0.04233709306330295; |
| 9159 | xx[12] = 0.04233598682685397; |
| 9160 | xx[13] = xx[3] * xx[7] + xx[12] * xx[9]; |
| 9161 | xx[14] = xx[3] * xx[9] - xx[12] * xx[7]; |
| 9162 | xx[15] = - (xx[4] * xx[6] - xx[10] * xx[11]); |
| 9163 | xx[16] = - (xx[11] * xx[13] + xx[14] * xx[4]); |
| 9164 | xx[17] = xx[4] * xx[13] - xx[14] * xx[11]; |
| 9165 | xx[18] = xx[10] * xx[4] + xx[11] * xx[6]; |
| 9166 | xx[7] = 3.980251324392935e-7; |
| 9167 | xx[9] = 0.999999999999921; |
| 9168 | xx[19] = xx[7] * state[30] - xx[9] * state[27]; |
| 9169 | xx[20] = - (xx[7] * state[29] + xx[9] * state[28]); |
| 9170 | xx[21] = - (xx[9] * state[29] - xx[7] * state[28]); |
| 9171 | xx[22] = - (xx[7] * state[27] + xx[9] * state[30]); |
| 9172 | pm_math_quatCompose(xx + 15, xx + 19, xx + 23); |
| 9173 | xx[27] = 3.980251340548381e-7; |
| 9174 | xx[28] = xx[9] * state[37] - xx[27] * state[34]; |
| 9175 | xx[29] = xx[9] * state[36] - xx[27] * state[35]; |
| 9176 | xx[30] = - (xx[27] * state[36] + xx[9] * state[35]); |
| 9177 | xx[31] = - (xx[27] * state[37] + xx[9] * state[34]); |
| 9178 | pm_math_quatCompose(xx + 23, xx + 28, xx + 32); |
| 9179 | xx[27] = 0.3535533905932732; |
| 9180 | xx[36] = xx[0] * state[41]; |
| 9181 | xx[37] = sin(xx[36]); |
| 9182 | xx[38] = 0.8660254037844377 * xx[37]; |
| 9183 | xx[39] = xx[27] * xx[38]; |
| 9184 | xx[40] = 0.6123724356957949; |
| 9185 | xx[41] = 0.5000000000000017 * xx[37]; |
| 9186 | xx[37] = xx[40] * xx[41]; |
| 9187 | xx[42] = cos(xx[36]); |
| 9188 | xx[36] = xx[40] * xx[42]; |
| 9189 | xx[43] = xx[39] + xx[37] - xx[36]; |
| 9190 | xx[44] = xx[40] * xx[38]; |
| 9191 | xx[38] = xx[27] * xx[42]; |
| 9192 | xx[42] = xx[27] * xx[41]; |
| 9193 | xx[41] = xx[44] + xx[38] - xx[42]; |
| 9194 | xx[45] = xx[38] - xx[44] + xx[42]; |
| 9195 | xx[38] = xx[37] + xx[36] + xx[39]; |
| 9196 | xx[46] = xx[43]; |
| 9197 | xx[47] = xx[41]; |
| 9198 | xx[48] = xx[45]; |
| 9199 | xx[49] = xx[38]; |
| 9200 | pm_math_quatCompose(xx + 32, xx + 46, xx + 50); |
| 9201 | xx[36] = sin(xx[1]); |
| 9202 | xx[46] = xx[2] * xx[50] + xx[53] * xx[36]; |
| 9203 | xx[47] = xx[2] * xx[51] - xx[52] * xx[36]; |
| 9204 | xx[48] = xx[2] * xx[52] + xx[51] * xx[36]; |
| 9205 | xx[49] = xx[2] * xx[53] - xx[50] * xx[36]; |
| 9206 | xx[1] = 7.599121945184391e-12; |
| 9207 | xx[37] = 5.036130209737022e-12; |
| 9208 | xx[39] = 5.192027881355888e-12; |
| 9209 | xx[54] = - xx[1]; |
| 9210 | xx[55] = xx[37]; |
| 9211 | xx[56] = - xx[39]; |
| 9212 | pm_math_quatXform(xx + 46, xx + 54, xx + 57); |
| 9213 | xx[42] = 2.0; |
| 9214 | xx[44] = 2.191920996097441e-12; |
| 9215 | xx[46] = xx[44] * xx[36]; |
| 9216 | xx[47] = 3.368449963403463e-13 * xx[36]; |
| 9217 | xx[60] = - (0.02539999999966131 + xx[42] * (xx[2] * xx[46] + xx[47] * xx[36])); |
| 9218 | xx[61] = (xx[46] * xx[36] - xx[2] * xx[47]) * xx[42] - xx[44]; |
| 9219 | xx[62] = - 0.1524264000010511; |
| 9220 | pm_math_quatXform(xx + 50, xx + 60, xx + 46); |
| 9221 | xx[2] = 0.09621024525612519; |
| 9222 | xx[36] = xx[2] * xx[45]; |
| 9223 | xx[60] = xx[41]; |
| 9224 | xx[61] = xx[45]; |
| 9225 | xx[62] = xx[38]; |
| 9226 | xx[44] = 0.1158410329922703; |
| 9227 | xx[49] = xx[44] * xx[38] - xx[41] * xx[2]; |
| 9228 | xx[2] = xx[44] * xx[45]; |
| 9229 | xx[63] = xx[36]; |
| 9230 | xx[64] = xx[49]; |
| 9231 | xx[65] = - xx[2]; |
| 9232 | pm_math_cross3(xx + 60, xx + 63, xx + 66); |
| 9233 | xx[60] = - (0.1158410329997535 + (xx[36] * xx[43] + xx[66]) * xx[42]); |
| 9234 | xx[61] = 5.088251355846174e-12 - (xx[43] * xx[49] + xx[67]) * xx[42]; |
| 9235 | xx[62] = - (0.1002102452613437 + xx[42] * (xx[68] - xx[2] * xx[43])); |
| 9236 | pm_math_quatXform(xx + 32, xx + 60, xx + 43); |
| 9237 | xx[2] = 3.641924106626229e-8; |
| 9238 | xx[32] = xx[1]; |
| 9239 | xx[33] = - xx[37]; |
| 9240 | xx[34] = xx[39]; |
| 9241 | pm_math_quatXform(xx + 28, xx + 32, xx + 35); |
| 9242 | xx[1] = 0.04574999999998041; |
| 9243 | xx[28] = 2.92603149291605e-7; |
| 9244 | xx[29] = xx[2] + xx[35]; |
| 9245 | xx[30] = xx[1] + xx[36]; |
| 9246 | xx[31] = xx[28] + xx[37]; |
| 9247 | pm_math_quatXform(xx + 23, xx + 29, xx + 32); |
| 9248 | xx[23] = 3.641162862673871e-8; |
| 9249 | xx[24] = 0.04575000000717538; |
| 9250 | xx[25] = - 2.926046524752066e-7; |
| 9251 | pm_math_quatXform(xx + 19, xx + 23, xx + 29); |
| 9252 | pm_math_quatXform(xx + 15, xx + 29, xx + 19); |
| 9253 | xx[15] = xx[13]; |
| 9254 | xx[16] = xx[10]; |
| 9255 | xx[17] = xx[6]; |
| 9256 | xx[18] = xx[14]; |
| 9257 | xx[22] = 9.83617579279345e-12; |
| 9258 | xx[26] = 3.107391981487723e-12 * xx[4] - xx[22] * xx[11]; |
| 9259 | xx[29] = 7.175000002356807e-3; |
| 9260 | xx[35] = xx[42] * xx[26] * xx[4] + 0.03194045366784892; |
| 9261 | xx[36] = xx[42] * xx[26] * xx[11] + xx[22]; |
| 9262 | xx[37] = 8.762500002356819e-3 - (xx[11] * xx[29] * xx[11] + xx[29] * xx[4] * |
| 9263 | xx[4]) * xx[42]; |
| 9264 | pm_math_quatXform(xx + 15, xx + 35, xx + 29); |
| 9265 | xx[15] = xx[10]; |
| 9266 | xx[16] = xx[6]; |
| 9267 | xx[17] = xx[14]; |
| 9268 | xx[4] = 1.5875e-3; |
| 9269 | xx[11] = xx[4] * xx[6]; |
| 9270 | xx[18] = 0.02520954632904373; |
| 9271 | xx[22] = xx[10] * xx[4] - xx[14] * xx[18]; |
| 9272 | xx[10] = xx[18] * xx[6]; |
| 9273 | xx[35] = - xx[11]; |
| 9274 | xx[36] = xx[22]; |
| 9275 | xx[37] = xx[10]; |
| 9276 | pm_math_cross3(xx + 15, xx + 35, xx + 60); |
| 9277 | xx[6] = xx[43] + xx[32] + xx[19] + xx[29] - (xx[60] - xx[11] * xx[13]) * xx[42] |
| 9278 | - 0.04299719117889741; |
| 9279 | xx[11] = 0.5901036711621467; |
| 9280 | xx[14] = xx[0] * state[64]; |
| 9281 | xx[15] = cos(xx[14]); |
| 9282 | xx[16] = 0.5901074779979936; |
| 9283 | xx[17] = sin(xx[14]); |
| 9284 | xx[14] = xx[11] * xx[15] - xx[16] * xx[17]; |
| 9285 | xx[26] = xx[0] * state[66]; |
| 9286 | xx[35] = sin(xx[26]); |
| 9287 | xx[36] = cos(xx[26]); |
| 9288 | xx[26] = xx[16] * xx[15] + xx[11] * xx[17]; |
| 9289 | xx[11] = 0.389585375426561; |
| 9290 | xx[16] = 0.3895819001770367; |
| 9291 | xx[37] = xx[11] * xx[15] - xx[16] * xx[17]; |
| 9292 | xx[38] = xx[16] * xx[15] + xx[11] * xx[17]; |
| 9293 | xx[63] = - (xx[14] * xx[35] + xx[36] * xx[26]); |
| 9294 | xx[64] = - (xx[37] * xx[36] - xx[35] * xx[38]); |
| 9295 | xx[65] = xx[37] * xx[35] + xx[36] * xx[38]; |
| 9296 | xx[66] = xx[14] * xx[36] - xx[35] * xx[26]; |
| 9297 | xx[67] = xx[7] * state[71] - xx[9] * state[68]; |
| 9298 | xx[68] = - (xx[7] * state[70] + xx[9] * state[69]); |
| 9299 | xx[69] = - (xx[9] * state[70] - xx[7] * state[69]); |
| 9300 | xx[70] = - (xx[7] * state[68] + xx[9] * state[71]); |
| 9301 | pm_math_quatCompose(xx + 63, xx + 67, xx + 71); |
| 9302 | xx[15] = xx[2]; |
| 9303 | xx[16] = xx[1]; |
| 9304 | xx[17] = xx[28]; |
| 9305 | pm_math_quatXform(xx + 71, xx + 15, xx + 75); |
| 9306 | pm_math_quatXform(xx + 67, xx + 23, xx + 71); |
| 9307 | pm_math_quatXform(xx + 63, xx + 71, xx + 67); |
| 9308 | xx[1] = - xx[26]; |
| 9309 | xx[2] = - xx[38]; |
| 9310 | xx[63] = xx[37]; |
| 9311 | xx[64] = xx[1]; |
| 9312 | xx[65] = xx[14]; |
| 9313 | xx[66] = xx[2]; |
| 9314 | xx[11] = 6.924287580811761e-12; |
| 9315 | xx[28] = xx[11] * xx[36] + 1.024070757638107e-11 * xx[35]; |
| 9316 | xx[39] = 4.000000007367204e-3; |
| 9317 | xx[70] = xx[42] * xx[28] * xx[35] + 0.03194045366071555; |
| 9318 | xx[71] = xx[42] * xx[28] * xx[36] - xx[11]; |
| 9319 | xx[72] = (xx[36] * xx[39] * xx[36] + xx[39] * xx[35] * xx[35]) * xx[42] - |
| 9320 | 2.412500007367193e-3; |
| 9321 | pm_math_quatXform(xx + 63, xx + 70, xx + 78); |
| 9322 | xx[11] = 1.587500000000011e-3; |
| 9323 | xx[28] = xx[14] * xx[11]; |
| 9324 | xx[63] = xx[1]; |
| 9325 | xx[64] = xx[14]; |
| 9326 | xx[65] = xx[2]; |
| 9327 | xx[1] = xx[18] * xx[38] + xx[11] * xx[26]; |
| 9328 | xx[2] = xx[14] * xx[18]; |
| 9329 | xx[70] = xx[28]; |
| 9330 | xx[71] = xx[1]; |
| 9331 | xx[72] = xx[2]; |
| 9332 | pm_math_cross3(xx + 63, xx + 70, xx + 81); |
| 9333 | xx[14] = xx[44] + xx[33] + xx[20] + xx[30] - (xx[22] * xx[13] + xx[61]) * xx |
| 9334 | [42] + 0.02992188481855372; |
| 9335 | xx[19] = xx[45] + xx[34] + xx[21] + xx[31] - xx[42] * (xx[62] + xx[10] * xx[13]) |
| 9336 | + 0.1428830924490354; |
| 9337 | xx[10] = xx[0] * state[45]; |
| 9338 | xx[13] = sin(xx[10]); |
| 9339 | xx[20] = xx[40] * xx[13]; |
| 9340 | xx[21] = cos(xx[10]); |
| 9341 | xx[10] = xx[40] * xx[21]; |
| 9342 | xx[22] = xx[27] * xx[21]; |
| 9343 | xx[21] = xx[27] * xx[13]; |
| 9344 | xx[29] = xx[20] - xx[10]; |
| 9345 | xx[30] = - (xx[22] + xx[21]); |
| 9346 | xx[31] = xx[21] - xx[22]; |
| 9347 | xx[32] = - (xx[20] + xx[10]); |
| 9348 | pm_math_quatCompose(xx + 50, xx + 29, xx + 33); |
| 9349 | pm_math_quatXform(xx + 33, xx + 54, xx + 20); |
| 9350 | xx[33] = - 1.121202762681406e-11; |
| 9351 | xx[34] = - 6.145027516349377e-13; |
| 9352 | xx[35] = - 3.999999999522439e-3; |
| 9353 | pm_math_quatXform(xx + 29, xx + 33, xx + 38); |
| 9354 | xx[29] = 0.1412410329922704 - xx[38]; |
| 9355 | xx[30] = - xx[39]; |
| 9356 | xx[31] = 0.05221615474387575 - xx[40]; |
| 9357 | pm_math_quatXform(xx + 50, xx + 29, xx + 32); |
| 9358 | xx[10] = xx[0] * state[55]; |
| 9359 | xx[13] = sin(xx[10]); |
| 9360 | xx[26] = xx[0] * state[53]; |
| 9361 | xx[27] = cos(xx[26]); |
| 9362 | xx[29] = sin(xx[26]); |
| 9363 | xx[26] = xx[5] * xx[27] + xx[8] * xx[29]; |
| 9364 | xx[30] = xx[5] * xx[29] - xx[8] * xx[27]; |
| 9365 | xx[5] = cos(xx[10]); |
| 9366 | xx[8] = xx[3] * xx[27] + xx[12] * xx[29]; |
| 9367 | xx[10] = xx[3] * xx[29] - xx[12] * xx[27]; |
| 9368 | xx[38] = - (xx[13] * xx[26] - xx[30] * xx[5]); |
| 9369 | xx[39] = - (xx[5] * xx[8] + xx[10] * xx[13]); |
| 9370 | xx[40] = xx[13] * xx[8] - xx[10] * xx[5]; |
| 9371 | xx[41] = xx[30] * xx[13] + xx[5] * xx[26]; |
| 9372 | xx[60] = xx[7] * state[60] - xx[9] * state[57]; |
| 9373 | xx[61] = - (xx[7] * state[59] + xx[9] * state[58]); |
| 9374 | xx[62] = - (xx[9] * state[59] - xx[7] * state[58]); |
| 9375 | xx[63] = - (xx[7] * state[57] + xx[9] * state[60]); |
| 9376 | pm_math_quatCompose(xx + 38, xx + 60, xx + 70); |
| 9377 | pm_math_quatXform(xx + 70, xx + 15, xx + 43); |
| 9378 | pm_math_quatXform(xx + 60, xx + 23, xx + 64); |
| 9379 | pm_math_quatXform(xx + 38, xx + 64, xx + 60); |
| 9380 | xx[38] = xx[8]; |
| 9381 | xx[39] = xx[30]; |
| 9382 | xx[40] = xx[26]; |
| 9383 | xx[41] = xx[10]; |
| 9384 | xx[3] = 5.443558296964576e-12; |
| 9385 | xx[12] = xx[3] * xx[5] - 9.27756931389703e-12 * xx[13]; |
| 9386 | xx[27] = 7.174999998974562e-3; |
| 9387 | xx[63] = xx[42] * xx[12] * xx[13] + 0.03194045368023388; |
| 9388 | xx[64] = xx[42] * xx[12] * xx[5] - xx[3]; |
| 9389 | xx[65] = 8.762499998974573e-3 - (xx[5] * xx[27] * xx[5] + xx[27] * xx[13] * |
| 9390 | xx[13]) * xx[42]; |
| 9391 | pm_math_quatXform(xx + 38, xx + 63, xx + 70); |
| 9392 | xx[38] = xx[30]; |
| 9393 | xx[39] = xx[26]; |
| 9394 | xx[40] = xx[10]; |
| 9395 | xx[3] = xx[4] * xx[26]; |
| 9396 | xx[5] = 0.02520954632904374; |
| 9397 | xx[12] = xx[30] * xx[4] - xx[10] * xx[5]; |
| 9398 | xx[4] = xx[5] * xx[26]; |
| 9399 | xx[29] = - xx[3]; |
| 9400 | xx[30] = xx[12]; |
| 9401 | xx[31] = xx[4]; |
| 9402 | pm_math_cross3(xx + 38, xx + 29, xx + 63); |
| 9403 | xx[5] = 0.3535533905932758; |
| 9404 | xx[10] = xx[0] * state[47]; |
| 9405 | xx[13] = cos(xx[10]); |
| 9406 | xx[26] = xx[5] * xx[13]; |
| 9407 | xx[27] = sin(xx[10]); |
| 9408 | xx[10] = xx[5] * xx[27]; |
| 9409 | xx[29] = 0.6123724356957934; |
| 9410 | xx[30] = xx[29] * xx[27]; |
| 9411 | xx[27] = xx[29] * xx[13]; |
| 9412 | xx[38] = - (xx[26] + xx[10]); |
| 9413 | xx[39] = xx[30] - xx[27]; |
| 9414 | xx[40] = - (xx[27] + xx[30]); |
| 9415 | xx[41] = xx[10] - xx[26]; |
| 9416 | pm_math_quatCompose(xx + 50, xx + 38, xx + 84); |
| 9417 | pm_math_quatXform(xx + 84, xx + 54, xx + 88); |
| 9418 | xx[84] = 3.881762117297072e-12; |
| 9419 | xx[85] = - 3.80025733104361e-12; |
| 9420 | xx[86] = 3.999999998874377e-3; |
| 9421 | pm_math_quatXform(xx + 38, xx + 84, xx + 91); |
| 9422 | xx[38] = - (0.1412410329922711 + xx[91]); |
| 9423 | xx[39] = - xx[92]; |
| 9424 | xx[40] = 0.05221615474387407 - xx[93]; |
| 9425 | pm_math_quatXform(xx + 50, xx + 38, xx + 84); |
| 9426 | xx[10] = 0.6324445710612965; |
| 9427 | xx[13] = xx[0] * state[75]; |
| 9428 | xx[26] = sin(xx[13]); |
| 9429 | xx[27] = 0.6324396579890005; |
| 9430 | xx[30] = cos(xx[13]); |
| 9431 | xx[13] = xx[10] * xx[26] - xx[27] * xx[30]; |
| 9432 | xx[31] = xx[0] * state[77]; |
| 9433 | xx[35] = sin(xx[31]); |
| 9434 | xx[36] = cos(xx[31]); |
| 9435 | xx[31] = xx[10] * xx[30] + xx[27] * xx[26]; |
| 9436 | xx[10] = 0.3162553791961485; |
| 9437 | xx[27] = 0.3162538200043588; |
| 9438 | xx[38] = xx[10] * xx[30] - xx[27] * xx[26]; |
| 9439 | xx[39] = xx[27] * xx[30] + xx[10] * xx[26]; |
| 9440 | xx[91] = - (xx[13] * xx[35] - xx[36] * xx[31]); |
| 9441 | xx[92] = - (xx[38] * xx[36] - xx[35] * xx[39]); |
| 9442 | xx[93] = xx[38] * xx[35] + xx[36] * xx[39]; |
| 9443 | xx[94] = xx[35] * xx[31] + xx[13] * xx[36]; |
| 9444 | xx[95] = xx[7] * state[82] - xx[9] * state[79]; |
| 9445 | xx[96] = - (xx[7] * state[81] + xx[9] * state[80]); |
| 9446 | xx[97] = - (xx[9] * state[81] - xx[7] * state[80]); |
| 9447 | xx[98] = - (xx[7] * state[79] + xx[9] * state[82]); |
| 9448 | pm_math_quatCompose(xx + 91, xx + 95, xx + 99); |
| 9449 | pm_math_quatXform(xx + 99, xx + 15, xx + 103); |
| 9450 | pm_math_quatXform(xx + 95, xx + 23, xx + 99); |
| 9451 | pm_math_quatXform(xx + 91, xx + 99, xx + 95); |
| 9452 | xx[10] = - xx[39]; |
| 9453 | xx[91] = xx[38]; |
| 9454 | xx[92] = xx[31]; |
| 9455 | xx[93] = xx[13]; |
| 9456 | xx[94] = xx[10]; |
| 9457 | xx[26] = 9.862118968695376e-13; |
| 9458 | xx[27] = 5.157931604049537e-12 * xx[35] - xx[26] * xx[36]; |
| 9459 | xx[30] = 3.99999999470772e-3; |
| 9460 | xx[98] = xx[42] * xx[27] * xx[35] + 0.03194045366579833; |
| 9461 | xx[99] = xx[42] * xx[27] * xx[36] + xx[26]; |
| 9462 | xx[100] = (xx[36] * xx[30] * xx[36] + xx[30] * xx[35] * xx[35]) * xx[42] - |
| 9463 | 2.412499994707708e-3; |
| 9464 | pm_math_quatXform(xx + 91, xx + 98, xx + 106); |
| 9465 | xx[26] = xx[13] * xx[11]; |
| 9466 | xx[91] = xx[31]; |
| 9467 | xx[92] = xx[13]; |
| 9468 | xx[93] = xx[10]; |
| 9469 | xx[10] = xx[18] * xx[39] - xx[11] * xx[31]; |
| 9470 | xx[27] = xx[13] * xx[18]; |
| 9471 | xx[39] = xx[26]; |
| 9472 | xx[40] = xx[10]; |
| 9473 | xx[41] = xx[27]; |
| 9474 | pm_math_cross3(xx + 91, xx + 39, xx + 98); |
| 9475 | xx[13] = xx[0] * state[49]; |
| 9476 | xx[30] = cos(xx[13]); |
| 9477 | xx[31] = xx[5] * xx[30]; |
| 9478 | xx[35] = sin(xx[13]); |
| 9479 | xx[13] = xx[5] * xx[35]; |
| 9480 | xx[5] = xx[29] * xx[30]; |
| 9481 | xx[30] = xx[29] * xx[35]; |
| 9482 | xx[91] = xx[31] + xx[13]; |
| 9483 | xx[92] = xx[5] - xx[30]; |
| 9484 | xx[93] = xx[5] + xx[30]; |
| 9485 | xx[94] = xx[31] - xx[13]; |
| 9486 | pm_math_quatCompose(xx + 50, xx + 91, xx + 109); |
| 9487 | pm_math_quatXform(xx + 109, xx + 54, xx + 29); |
| 9488 | xx[39] = - 5.998698970888227e-12; |
| 9489 | xx[40] = - 6.30935626036444e-12; |
| 9490 | xx[41] = 4.000000001735564e-3; |
| 9491 | pm_math_quatXform(xx + 91, xx + 39, xx + 109); |
| 9492 | xx[39] = - (0.1158410329922713 + xx[109]); |
| 9493 | xx[40] = - xx[110]; |
| 9494 | xx[41] = 0.09621024525612379 - xx[111]; |
| 9495 | pm_math_quatXform(xx + 50, xx + 39, xx + 91); |
| 9496 | xx[5] = 0.6324396579890008; |
| 9497 | xx[13] = xx[0] * state[86]; |
| 9498 | xx[35] = cos(xx[13]); |
| 9499 | xx[36] = 0.6324445710612973; |
| 9500 | xx[39] = sin(xx[13]); |
| 9501 | xx[13] = xx[5] * xx[35] - xx[36] * xx[39]; |
| 9502 | xx[40] = xx[0] * state[88]; |
| 9503 | xx[41] = sin(xx[40]); |
| 9504 | xx[49] = cos(xx[40]); |
| 9505 | xx[40] = xx[36] * xx[35] + xx[5] * xx[39]; |
| 9506 | xx[5] = 0.3162538200043575; |
| 9507 | xx[36] = 0.3162553791961478; |
| 9508 | xx[66] = xx[5] * xx[39] - xx[36] * xx[35]; |
| 9509 | xx[73] = xx[5] * xx[35] + xx[36] * xx[39]; |
| 9510 | xx[109] = - (xx[13] * xx[41] + xx[49] * xx[40]); |
| 9511 | xx[110] = - (xx[66] * xx[49] + xx[41] * xx[73]); |
| 9512 | xx[111] = xx[66] * xx[41] - xx[49] * xx[73]; |
| 9513 | xx[112] = xx[13] * xx[49] - xx[41] * xx[40]; |
| 9514 | xx[113] = xx[7] * state[93] - xx[9] * state[90]; |
| 9515 | xx[114] = - (xx[7] * state[92] + xx[9] * state[91]); |
| 9516 | xx[115] = - (xx[9] * state[92] - xx[7] * state[91]); |
| 9517 | xx[116] = - (xx[7] * state[90] + xx[9] * state[93]); |
| 9518 | pm_math_quatCompose(xx + 109, xx + 113, xx + 117); |
| 9519 | pm_math_quatXform(xx + 117, xx + 15, xx + 121); |
| 9520 | pm_math_quatXform(xx + 113, xx + 23, xx + 117); |
| 9521 | pm_math_quatXform(xx + 109, xx + 117, xx + 113); |
| 9522 | xx[5] = - xx[40]; |
| 9523 | xx[109] = xx[66]; |
| 9524 | xx[110] = xx[5]; |
| 9525 | xx[111] = xx[13]; |
| 9526 | xx[112] = xx[73]; |
| 9527 | xx[35] = 8.497959654019115e-12; |
| 9528 | xx[36] = 1.600627075326599e-13 * xx[41] - xx[35] * xx[49]; |
| 9529 | xx[39] = 3.999999996613603e-3; |
| 9530 | xx[116] = xx[42] * xx[36] * xx[41] + 0.03194045367079622; |
| 9531 | xx[117] = xx[42] * xx[36] * xx[49] + xx[35]; |
| 9532 | xx[118] = (xx[49] * xx[39] * xx[49] + xx[39] * xx[41] * xx[41]) * xx[42] - |
| 9533 | 2.412499996613564e-3; |
| 9534 | pm_math_quatXform(xx + 109, xx + 116, xx + 124); |
| 9535 | xx[35] = 1.587499999999983e-3; |
| 9536 | xx[36] = xx[13] * xx[35]; |
| 9537 | xx[109] = xx[5]; |
| 9538 | xx[110] = xx[13]; |
| 9539 | xx[111] = xx[73]; |
| 9540 | xx[5] = xx[35] * xx[40] - xx[18] * xx[73]; |
| 9541 | xx[35] = xx[13] * xx[18]; |
| 9542 | xx[39] = xx[36]; |
| 9543 | xx[40] = xx[5]; |
| 9544 | xx[41] = xx[35]; |
| 9545 | pm_math_cross3(xx + 109, xx + 39, xx + 116); |
| 9546 | xx[13] = xx[0] * state[51]; |
| 9547 | xx[39] = cos(xx[13]); |
| 9548 | xx[40] = sin(xx[13]); |
| 9549 | xx[109] = xx[39] * xx[50] + xx[53] * xx[40]; |
| 9550 | xx[110] = xx[39] * xx[51] - xx[52] * xx[40]; |
| 9551 | xx[111] = xx[39] * xx[52] + xx[51] * xx[40]; |
| 9552 | xx[112] = xx[39] * xx[53] - xx[50] * xx[40]; |
| 9553 | pm_math_quatXform(xx + 109, xx + 54, xx + 127); |
| 9554 | xx[13] = 6.817225262079063e-12 * xx[40]; |
| 9555 | xx[41] = 5.61723311615081e-12; |
| 9556 | xx[49] = xx[41] * xx[40]; |
| 9557 | xx[54] = 0.02540000000681907 - xx[42] * (xx[13] * xx[40] - xx[39] * xx[49]); |
| 9558 | xx[55] = xx[41] - (xx[39] * xx[13] + xx[49] * xx[40]) * xx[42]; |
| 9559 | xx[56] = - 0.152426400001803; |
| 9560 | pm_math_quatXform(xx + 50, xx + 54, xx + 39); |
| 9561 | xx[13] = 0.5901036711621462; |
| 9562 | xx[49] = xx[0] * state[12]; |
| 9563 | xx[50] = cos(xx[49]); |
| 9564 | xx[51] = 0.5901074779979933; |
| 9565 | xx[52] = sin(xx[49]); |
| 9566 | xx[49] = xx[13] * xx[50] - xx[51] * xx[52]; |
| 9567 | xx[53] = xx[0] * state[14]; |
| 9568 | xx[0] = sin(xx[53]); |
| 9569 | xx[54] = cos(xx[53]); |
| 9570 | xx[53] = xx[51] * xx[50] + xx[13] * xx[52]; |
| 9571 | xx[13] = 0.3895853754265615; |
| 9572 | xx[51] = 0.389581900177037; |
| 9573 | xx[55] = xx[13] * xx[50] - xx[51] * xx[52]; |
| 9574 | xx[56] = xx[51] * xx[50] + xx[13] * xx[52]; |
| 9575 | xx[109] = - (xx[49] * xx[0] + xx[54] * xx[53]); |
| 9576 | xx[110] = - (xx[55] * xx[54] - xx[0] * xx[56]); |
| 9577 | xx[111] = xx[55] * xx[0] + xx[54] * xx[56]; |
| 9578 | xx[112] = xx[49] * xx[54] - xx[0] * xx[53]; |
| 9579 | xx[130] = xx[7] * state[19] - xx[9] * state[16]; |
| 9580 | xx[131] = - (xx[7] * state[18] + xx[9] * state[17]); |
| 9581 | xx[132] = - (xx[9] * state[18] - xx[7] * state[17]); |
| 9582 | xx[133] = - (xx[7] * state[16] + xx[9] * state[19]); |
| 9583 | pm_math_quatCompose(xx + 109, xx + 130, xx + 134); |
| 9584 | pm_math_quatXform(xx + 134, xx + 15, xx + 50); |
| 9585 | pm_math_quatXform(xx + 130, xx + 23, xx + 15); |
| 9586 | pm_math_quatXform(xx + 109, xx + 15, xx + 23); |
| 9587 | xx[7] = - xx[53]; |
| 9588 | xx[9] = - xx[56]; |
| 9589 | xx[109] = xx[55]; |
| 9590 | xx[110] = xx[7]; |
| 9591 | xx[111] = xx[49]; |
| 9592 | xx[112] = xx[9]; |
| 9593 | xx[13] = 5.376764528053357e-12; |
| 9594 | xx[15] = xx[13] * xx[54] + 7.748428954013064e-12 * xx[0]; |
| 9595 | xx[16] = 4.0000000045273e-3; |
| 9596 | xx[130] = 0.03194045367870467 - xx[42] * xx[15] * xx[0]; |
| 9597 | xx[131] = xx[13] - xx[42] * xx[15] * xx[54]; |
| 9598 | xx[132] = (xx[54] * xx[16] * xx[54] + xx[16] * xx[0] * xx[0]) * xx[42] - |
| 9599 | 2.412500004527289e-3; |
| 9600 | pm_math_quatXform(xx + 109, xx + 130, xx + 15); |
| 9601 | xx[0] = xx[49] * xx[11]; |
| 9602 | xx[109] = xx[7]; |
| 9603 | xx[110] = xx[49]; |
| 9604 | xx[111] = xx[9]; |
| 9605 | xx[7] = xx[18] * xx[56] + xx[11] * xx[53]; |
| 9606 | xx[9] = xx[49] * xx[18]; |
| 9607 | xx[130] = xx[0]; |
| 9608 | xx[131] = xx[7]; |
| 9609 | xx[132] = xx[9]; |
| 9610 | pm_math_cross3(xx + 109, xx + 130, xx + 133); |
| 9611 | xx[136] = fabs(xx[57] + xx[46] + xx[6] - (xx[75] + xx[67] + xx[78] - (xx[37] * |
| 9612 | xx[28] + xx[81]) * xx[42]) - 0.1417622656843958); |
| 9613 | xx[137] = fabs(xx[58] + xx[47] + xx[14] - (xx[76] + xx[68] + xx[79] - (xx[37] * |
| 9614 | xx[1] + xx[82]) * xx[42]) - 0.02992349485130436); |
| 9615 | xx[138] = fabs(xx[59] + xx[48] + xx[19] - (xx[77] + xx[69] + xx[80] - xx[42] * |
| 9616 | (xx[83] + xx[37] * xx[2])) + 0.1065919054848736); |
| 9617 | xx[139] = fabs(xx[20] + xx[32] + xx[6] - (xx[43] + xx[60] + xx[70] - (xx[63] - |
| 9618 | xx[3] * xx[8]) * xx[42]) - 0.05787438452398606); |
| 9619 | xx[140] = fabs(xx[21] + xx[33] + xx[14] - (xx[44] + xx[61] + xx[71] - (xx[8] * |
| 9620 | xx[12] + xx[64]) * xx[42]) - 0.02992259737327991); |
| 9621 | xx[141] = fabs(xx[22] + xx[34] + xx[19] - (xx[45] + xx[62] + xx[72] - xx[42] * |
| 9622 | (xx[65] + xx[4] * xx[8])) - 0.1550274415345039); |
| 9623 | xx[142] = fabs(xx[88] + xx[84] + xx[6] - (xx[103] + xx[95] + xx[106] - (xx[38] |
| 9624 | * xx[26] + xx[98]) * xx[42]) + 0.06304794220310322); |
| 9625 | xx[143] = fabs(xx[89] + xx[85] + xx[14] - (xx[104] + xx[96] + xx[107] - (xx[38] |
| 9626 | * xx[10] + xx[99]) * xx[42]) - 0.02992204813763048); |
| 9627 | xx[144] = fabs(xx[90] + xx[86] + xx[19] - (xx[105] + xx[97] + xx[108] - xx[42] |
| 9628 | * (xx[100] + xx[38] * xx[27])) + 0.1313039406712666); |
| 9629 | xx[145] = fabs(xx[29] + xx[91] + xx[6] - (xx[121] + xx[113] + xx[124] - (xx[66] |
| 9630 | * xx[36] + xx[116]) * xx[42]) + 0.1240382406650065); |
| 9631 | xx[146] = fabs(xx[30] + xx[92] + xx[14] - (xx[122] + xx[114] + xx[125] - (xx |
| 9632 | [66] * xx[5] + xx[117]) * xx[42]) - 0.02992151662180351); |
| 9633 | xx[147] = fabs(xx[31] + xx[93] + xx[19] - (xx[123] + xx[115] + xx[126] - xx[42] |
| 9634 | * (xx[118] + xx[66] * xx[35])) + 0.04996916497694619); |
| 9635 | xx[148] = fabs(xx[127] + xx[39] + xx[6] - (xx[50] + xx[23] + xx[15] - (xx[55] * |
| 9636 | xx[0] + xx[133]) * xx[42]) - 0.1816563790182656); |
| 9637 | xx[149] = fabs(xx[128] + xx[40] + xx[14] - (xx[51] + xx[24] + xx[16] - (xx[55] |
| 9638 | * xx[7] + xx[134]) * xx[42]) - 0.02992367610368172); |
| 9639 | xx[150] = fabs(xx[129] + xx[41] + xx[19] - (xx[52] + xx[25] + xx[17] - xx[42] * |
| 9640 | (xx[135] + xx[55] * xx[9])) + 0.01321939793971065); |
| 9641 | ii[0] = 136; |
| 9642 | |
| 9643 | { |
| 9644 | int ll; |
| 9645 | for (ll = 137; ll < 151; ++ll) |
| 9646 | if (xx[ll] > xx[ii[0]]) |
| 9647 | ii[0] = ll; |
| 9648 | } |
| 9649 | |
| 9650 | ii[0] -= 136; |
| 9651 | xx[0] = xx[136 + (ii[0])]; |
| 9652 | xx[1] = xx[0] - 0.01; |
| 9653 | if (xx[1] < 0.0) |
| 9654 | ii[0] = -1; |
| 9655 | else if (xx[1] > 0.0) |
| 9656 | ii[0] = +1; |
| 9657 | else |
| 9658 | ii[0] = 0; |
| 9659 | ii[1] = ii[0]; |
| 9660 | if (0 > ii[1]) |
| 9661 | ii[1] = 0; |
| 9662 | return ii[1]; |
| 9663 | } |
| 9664 | |
| 9665 | int PlatformAssem_f0ca4364_1_isVelocityViolation(const void *mech, const double * |
| 9666 | rtdv, const int *eqnEnableFlags, const double *state) |
| 9667 | { |
| 9668 | int ii[3]; |
| 9669 | double xx[177]; |
| 9670 | (void) mech; |
| 9671 | (void) rtdv; |
| 9672 | (void) eqnEnableFlags; |
| 9673 | xx[0] = 0.04233709306330295; |
| 9674 | xx[1] = 0.5; |
| 9675 | xx[2] = xx[1] * state[23]; |
| 9676 | xx[3] = cos(xx[2]); |
| 9677 | xx[4] = 0.04233598682685397; |
| 9678 | xx[5] = sin(xx[2]); |
| 9679 | xx[2] = xx[0] * xx[3] + xx[4] * xx[5]; |
| 9680 | xx[6] = 0.7058357201813958; |
| 9681 | xx[7] = 0.7058407546227096; |
| 9682 | xx[8] = xx[6] * xx[5] - xx[7] * xx[3]; |
| 9683 | xx[9] = xx[6] * xx[3] + xx[7] * xx[5]; |
| 9684 | xx[10] = xx[0] * xx[5] - xx[4] * xx[3]; |
| 9685 | xx[11] = xx[2]; |
| 9686 | xx[12] = xx[8]; |
| 9687 | xx[13] = xx[9]; |
| 9688 | xx[14] = xx[10]; |
| 9689 | xx[3] = 3.980251324392935e-7; |
| 9690 | xx[5] = 0.999999999999921; |
| 9691 | xx[15] = xx[3] * state[30] - xx[5] * state[27]; |
| 9692 | xx[16] = - (xx[3] * state[29] + xx[5] * state[28]); |
| 9693 | xx[17] = - (xx[5] * state[29] - xx[3] * state[28]); |
| 9694 | xx[18] = - (xx[3] * state[27] + xx[5] * state[30]); |
| 9695 | xx[19] = 3.980251340548381e-7; |
| 9696 | xx[20] = xx[5] * state[37] - xx[19] * state[34]; |
| 9697 | xx[21] = xx[5] * state[36] - xx[19] * state[35]; |
| 9698 | xx[22] = - (xx[19] * state[36] + xx[5] * state[35]); |
| 9699 | xx[23] = - (xx[19] * state[37] + xx[5] * state[34]); |
| 9700 | xx[19] = xx[1] * state[43]; |
| 9701 | xx[24] = cos(xx[19]); |
| 9702 | xx[25] = 0.3535533905932732; |
| 9703 | xx[26] = 0.8660254037844377; |
| 9704 | xx[27] = xx[1] * state[41]; |
| 9705 | xx[28] = sin(xx[27]); |
| 9706 | xx[29] = xx[26] * xx[28]; |
| 9707 | xx[30] = xx[25] * xx[29]; |
| 9708 | xx[31] = 0.6123724356957949; |
| 9709 | xx[32] = 0.5000000000000017; |
| 9710 | xx[33] = xx[32] * xx[28]; |
| 9711 | xx[28] = xx[31] * xx[33]; |
| 9712 | xx[34] = cos(xx[27]); |
| 9713 | xx[27] = xx[31] * xx[34]; |
| 9714 | xx[35] = xx[30] + xx[28] - xx[27]; |
| 9715 | xx[36] = sin(xx[19]); |
| 9716 | xx[19] = xx[28] + xx[27] + xx[30]; |
| 9717 | xx[27] = xx[31] * xx[29]; |
| 9718 | xx[28] = xx[25] * xx[34]; |
| 9719 | xx[29] = xx[25] * xx[33]; |
| 9720 | xx[30] = xx[27] + xx[28] - xx[29]; |
| 9721 | xx[33] = xx[28] - xx[27] + xx[29]; |
| 9722 | xx[37] = xx[24] * xx[35] + xx[36] * xx[19]; |
| 9723 | xx[38] = xx[30] * xx[24] - xx[36] * xx[33]; |
| 9724 | xx[39] = xx[24] * xx[33] + xx[30] * xx[36]; |
| 9725 | xx[40] = xx[24] * xx[19] - xx[36] * xx[35]; |
| 9726 | pm_math_quatCompose(xx + 20, xx + 37, xx + 41); |
| 9727 | pm_math_quatCompose(xx + 15, xx + 41, xx + 45); |
| 9728 | xx[27] = xx[1] * state[25]; |
| 9729 | xx[28] = sin(xx[27]); |
| 9730 | xx[29] = cos(xx[27]); |
| 9731 | xx[27] = xx[47] * xx[28] - xx[29] * xx[46]; |
| 9732 | xx[34] = xx[48] * xx[28] - xx[29] * xx[45]; |
| 9733 | xx[49] = xx[45] * xx[28] + xx[29] * xx[48]; |
| 9734 | xx[50] = xx[29] * xx[47] + xx[46] * xx[28]; |
| 9735 | xx[51] = - xx[27]; |
| 9736 | xx[52] = xx[34]; |
| 9737 | xx[53] = xx[49]; |
| 9738 | xx[54] = - xx[50]; |
| 9739 | pm_math_quatCompose(xx + 11, xx + 51, xx + 55); |
| 9740 | xx[51] = 2.0; |
| 9741 | xx[52] = xx[49] * state[24]; |
| 9742 | xx[53] = xx[34] * state[24]; |
| 9743 | xx[54] = xx[46] * state[26]; |
| 9744 | xx[59] = xx[47] * state[26]; |
| 9745 | xx[60] = xx[3] * state[31]; |
| 9746 | xx[61] = xx[3] * state[32]; |
| 9747 | xx[62] = state[31] - (xx[3] * xx[60] - xx[5] * xx[61]) * xx[51]; |
| 9748 | xx[63] = state[32] - xx[51] * (xx[5] * xx[60] + xx[3] * xx[61]); |
| 9749 | xx[64] = state[33]; |
| 9750 | pm_math_quatInverseXform(xx + 41, xx + 62, xx + 65); |
| 9751 | xx[41] = state[38]; |
| 9752 | xx[42] = state[39]; |
| 9753 | xx[43] = state[40]; |
| 9754 | pm_math_quatInverseXform(xx + 37, xx + 41, xx + 68); |
| 9755 | xx[37] = xx[26] * state[42]; |
| 9756 | xx[26] = xx[37] * xx[36]; |
| 9757 | xx[38] = xx[32] * state[42]; |
| 9758 | xx[71] = xx[51] * (xx[52] * xx[27] - xx[50] * xx[53]) + xx[51] * (xx[48] * xx |
| 9759 | [54] - xx[45] * xx[59]) + xx[65] + xx[68] + xx[51] * xx[26] * xx[36] - xx[37]; |
| 9760 | xx[72] = (xx[45] * xx[54] + xx[48] * xx[59]) * xx[51] + xx[66] + xx[69] - xx |
| 9761 | [51] * xx[24] * xx[26] - (xx[53] * xx[27] + xx[50] * xx[52]) * xx[51]; |
| 9762 | xx[73] = state[24] - (xx[53] * xx[34] + xx[49] * xx[52]) * xx[51] + state[26] |
| 9763 | - (xx[46] * xx[54] + xx[47] * xx[59]) * xx[51] + xx[67] + xx[70] - (xx[38] + |
| 9764 | state[44]); |
| 9765 | xx[26] = 7.599121945184391e-12; |
| 9766 | xx[27] = 5.036130209737022e-12; |
| 9767 | xx[32] = 5.192027881355888e-12; |
| 9768 | xx[44] = - xx[26]; |
| 9769 | xx[45] = xx[27]; |
| 9770 | xx[46] = - xx[32]; |
| 9771 | pm_math_cross3(xx + 71, xx + 44, xx + 47); |
| 9772 | pm_math_quatXform(xx + 55, xx + 47, xx + 52); |
| 9773 | xx[34] = 0.02520954632904373; |
| 9774 | xx[39] = xx[8] * xx[34]; |
| 9775 | xx[40] = xx[10] * xx[34]; |
| 9776 | xx[47] = xx[51] * (xx[39] * xx[9] - xx[40] * xx[2]) * state[24]; |
| 9777 | xx[48] = 3.107391981487723e-12; |
| 9778 | xx[49] = 9.83617579279345e-12; |
| 9779 | xx[50] = xx[48] * xx[29] + xx[49] * xx[28]; |
| 9780 | xx[55] = (xx[51] * xx[50] * xx[28] - xx[49]) * state[26]; |
| 9781 | xx[56] = 3.641162862673871e-8; |
| 9782 | xx[57] = 0.04575000000717538; |
| 9783 | xx[58] = - 2.926046524752066e-7; |
| 9784 | pm_math_cross3(xx + 62, xx + 56, xx + 59); |
| 9785 | pm_math_quatXform(xx + 15, xx + 59, xx + 65); |
| 9786 | xx[59] = xx[26]; |
| 9787 | xx[60] = - xx[27]; |
| 9788 | xx[61] = xx[32]; |
| 9789 | pm_math_cross3(xx + 41, xx + 59, xx + 68); |
| 9790 | pm_math_quatXform(xx + 20, xx + 68, xx + 71); |
| 9791 | xx[26] = 0.02540000000000025; |
| 9792 | xx[27] = xx[26] * xx[19]; |
| 9793 | xx[32] = xx[30] * xx[26]; |
| 9794 | xx[68] = xx[51] * (xx[27] * xx[35] - xx[32] * xx[33]) * state[42]; |
| 9795 | xx[74] = xx[35]; |
| 9796 | xx[75] = xx[30]; |
| 9797 | xx[76] = xx[33]; |
| 9798 | xx[77] = xx[19]; |
| 9799 | xx[69] = 2.191920996097441e-12; |
| 9800 | xx[70] = xx[69] * xx[36]; |
| 9801 | xx[78] = xx[70] * xx[36]; |
| 9802 | xx[79] = 3.368449963403463e-13; |
| 9803 | xx[80] = xx[79] * xx[36]; |
| 9804 | xx[81] = xx[24] * xx[80]; |
| 9805 | xx[82] = xx[69] - (xx[78] - xx[81]) * xx[51]; |
| 9806 | xx[83] = xx[24] * xx[70]; |
| 9807 | xx[24] = xx[80] * xx[36]; |
| 9808 | xx[36] = 0.02539999999999815 + xx[51] * (xx[83] + xx[24]) - xx[79]; |
| 9809 | xx[70] = 0.1524264000010511; |
| 9810 | xx[84] = (xx[51] * (xx[78] - xx[81]) - xx[69]) * state[44] - xx[38] * xx[82]; |
| 9811 | xx[85] = ((xx[83] + xx[24]) * xx[51] - xx[79]) * state[44] + xx[38] * xx[36] - |
| 9812 | xx[70] * xx[37]; |
| 9813 | xx[86] = xx[37] * xx[82]; |
| 9814 | pm_math_quatXform(xx + 74, xx + 84, xx + 78); |
| 9815 | xx[83] = - xx[36]; |
| 9816 | xx[84] = - xx[82]; |
| 9817 | xx[85] = - xx[70]; |
| 9818 | pm_math_quatXform(xx + 74, xx + 83, xx + 86); |
| 9819 | xx[24] = 0.09621024525612519; |
| 9820 | xx[36] = xx[24] * xx[33]; |
| 9821 | xx[81] = xx[30]; |
| 9822 | xx[82] = xx[33]; |
| 9823 | xx[83] = xx[19]; |
| 9824 | xx[69] = 0.1158410329922703; |
| 9825 | xx[70] = xx[69] * xx[19] - xx[30] * xx[24]; |
| 9826 | xx[24] = xx[69] * xx[33]; |
| 9827 | xx[89] = xx[36]; |
| 9828 | xx[90] = xx[70]; |
| 9829 | xx[91] = - xx[24]; |
| 9830 | pm_math_cross3(xx + 81, xx + 89, xx + 92); |
| 9831 | xx[69] = 0.1158410329997535 + (xx[36] * xx[35] + xx[92]) * xx[51]; |
| 9832 | xx[36] = 5.088251355846174e-12 - (xx[35] * xx[70] + xx[93]) * xx[51]; |
| 9833 | xx[70] = 0.1002102452613437 + xx[51] * (xx[94] - xx[24] * xx[35]); |
| 9834 | xx[81] = xx[86] - xx[69]; |
| 9835 | xx[82] = xx[87] + xx[36]; |
| 9836 | xx[83] = xx[88] - xx[70]; |
| 9837 | pm_math_cross3(xx + 41, xx + 81, xx + 84); |
| 9838 | xx[24] = ((xx[27] * xx[19] + xx[30] * xx[32]) * xx[51] - xx[26]) * state[42]; |
| 9839 | xx[26] = xx[51] * (xx[32] * xx[35] + xx[27] * xx[33]) * state[42]; |
| 9840 | xx[87] = xx[68] + xx[78] + xx[84]; |
| 9841 | xx[88] = xx[24] + xx[79] + xx[85]; |
| 9842 | xx[89] = xx[80] - xx[26] + xx[86]; |
| 9843 | pm_math_quatXform(xx + 20, xx + 87, xx + 78); |
| 9844 | pm_math_quatXform(xx + 20, xx + 81, xx + 84); |
| 9845 | xx[27] = 3.641924106626229e-8; |
| 9846 | pm_math_quatXform(xx + 20, xx + 59, xx + 81); |
| 9847 | xx[32] = xx[27] + xx[81]; |
| 9848 | xx[59] = 0.04574999999998041; |
| 9849 | xx[60] = xx[59] + xx[82]; |
| 9850 | xx[61] = 2.92603149291605e-7; |
| 9851 | xx[81] = xx[61] + xx[83]; |
| 9852 | xx[87] = xx[84] + xx[32]; |
| 9853 | xx[88] = xx[85] + xx[60]; |
| 9854 | xx[89] = xx[86] + xx[81]; |
| 9855 | pm_math_cross3(xx + 62, xx + 87, xx + 82); |
| 9856 | xx[90] = xx[71] + xx[78] + xx[82]; |
| 9857 | xx[91] = xx[72] + xx[79] + xx[83]; |
| 9858 | xx[92] = xx[73] + xx[80] + xx[84]; |
| 9859 | pm_math_quatXform(xx + 15, xx + 90, xx + 78); |
| 9860 | pm_math_quatXform(xx + 15, xx + 87, xx + 82); |
| 9861 | pm_math_quatXform(xx + 15, xx + 56, xx + 85); |
| 9862 | xx[88] = xx[83] + xx[86]; |
| 9863 | xx[89] = xx[65] + xx[78] - xx[88] * state[26]; |
| 9864 | xx[83] = xx[82] + xx[85]; |
| 9865 | xx[82] = xx[66] + xx[79] + xx[83] * state[26]; |
| 9866 | xx[84] = xx[82] * xx[29] + xx[28] * xx[89]; |
| 9867 | xx[87] = xx[88] * xx[29] + xx[83] * xx[28]; |
| 9868 | xx[90] = xx[48] * xx[28] - xx[49] * xx[29]; |
| 9869 | xx[91] = xx[49] + xx[51] * xx[90] * xx[29]; |
| 9870 | xx[49] = (xx[51] * xx[50] * xx[29] - xx[48]) * state[26]; |
| 9871 | xx[48] = xx[51] * xx[90] * xx[28] + 0.03194045366784892; |
| 9872 | xx[50] = xx[67] + xx[80]; |
| 9873 | xx[78] = xx[55] + xx[89] - xx[51] * xx[84] * xx[28] - (xx[88] - xx[51] * xx[87] |
| 9874 | * xx[29] + xx[91]) * state[24]; |
| 9875 | xx[79] = xx[49] + xx[82] - xx[51] * xx[84] * xx[29] + (xx[83] - xx[51] * xx[87] |
| 9876 | * xx[28] + xx[48]) * state[24]; |
| 9877 | xx[80] = xx[50] - (xx[29] * xx[50] * xx[29] + xx[50] * xx[28] * xx[28]) * xx |
| 9878 | [51]; |
| 9879 | pm_math_quatXform(xx + 11, xx + 78, xx + 82); |
| 9880 | xx[50] = 0.389585375426561; |
| 9881 | xx[78] = xx[1] * state[64]; |
| 9882 | xx[79] = cos(xx[78]); |
| 9883 | xx[80] = 0.3895819001770367; |
| 9884 | xx[87] = sin(xx[78]); |
| 9885 | xx[78] = xx[50] * xx[79] - xx[80] * xx[87]; |
| 9886 | xx[88] = 0.5901074779979936; |
| 9887 | xx[89] = 0.5901036711621467; |
| 9888 | xx[90] = xx[88] * xx[79] + xx[89] * xx[87]; |
| 9889 | xx[92] = xx[89] * xx[79] - xx[88] * xx[87]; |
| 9890 | xx[88] = xx[80] * xx[79] + xx[50] * xx[87]; |
| 9891 | xx[93] = xx[78]; |
| 9892 | xx[94] = - xx[90]; |
| 9893 | xx[95] = xx[92]; |
| 9894 | xx[96] = - xx[88]; |
| 9895 | xx[50] = xx[5] * state[70] - xx[3] * state[69]; |
| 9896 | xx[79] = xx[1] * state[66]; |
| 9897 | xx[80] = sin(xx[79]); |
| 9898 | xx[87] = cos(xx[79]); |
| 9899 | xx[79] = xx[3] * state[70] + xx[5] * state[69]; |
| 9900 | xx[89] = xx[50] * xx[80] - xx[87] * xx[79]; |
| 9901 | xx[97] = xx[3] * state[68] + xx[5] * state[71]; |
| 9902 | xx[98] = xx[3] * state[71] - xx[5] * state[68]; |
| 9903 | xx[99] = xx[80] * xx[97] + xx[87] * xx[98]; |
| 9904 | xx[100] = xx[80] * xx[98] - xx[87] * xx[97]; |
| 9905 | xx[101] = xx[50] * xx[87] + xx[80] * xx[79]; |
| 9906 | xx[102] = xx[89]; |
| 9907 | xx[103] = - xx[99]; |
| 9908 | xx[104] = xx[100]; |
| 9909 | xx[105] = xx[101]; |
| 9910 | pm_math_quatCompose(xx + 93, xx + 102, xx + 106); |
| 9911 | xx[102] = xx[100] * state[65]; |
| 9912 | xx[103] = xx[99] * state[65]; |
| 9913 | xx[104] = xx[50] * state[67]; |
| 9914 | xx[105] = xx[79] * state[67]; |
| 9915 | xx[110] = xx[3] * state[72]; |
| 9916 | xx[111] = xx[3] * state[73]; |
| 9917 | xx[112] = state[72] - (xx[3] * xx[110] - xx[5] * xx[111]) * xx[51]; |
| 9918 | xx[113] = state[73] - xx[51] * (xx[5] * xx[110] + xx[3] * xx[111]); |
| 9919 | xx[114] = xx[51] * (xx[89] * xx[102] + xx[103] * xx[101]) + (xx[104] * xx[98] |
| 9920 | + xx[105] * xx[97]) * xx[51] + xx[112]; |
| 9921 | xx[115] = xx[51] * (xx[104] * xx[97] - xx[105] * xx[98]) + xx[113] - (xx[102] * |
| 9922 | xx[101] - xx[89] * xx[103]) * xx[51]; |
| 9923 | xx[116] = (xx[103] * xx[99] + xx[100] * xx[102]) * xx[51] - state[65] + state |
| 9924 | [67] - (xx[105] * xx[79] + xx[50] * xx[104]) * xx[51] + state[74]; |
| 9925 | xx[99] = xx[27]; |
| 9926 | xx[100] = xx[59]; |
| 9927 | xx[101] = xx[61]; |
| 9928 | pm_math_cross3(xx + 114, xx + 99, xx + 102); |
| 9929 | pm_math_quatXform(xx + 106, xx + 102, xx + 114); |
| 9930 | xx[27] = xx[34] * xx[90]; |
| 9931 | xx[59] = xx[34] * xx[88]; |
| 9932 | xx[61] = 6.924287580811761e-12; |
| 9933 | xx[89] = 1.024070757638107e-11; |
| 9934 | xx[102] = xx[61] * xx[80] - xx[89] * xx[87]; |
| 9935 | xx[103] = xx[98]; |
| 9936 | xx[104] = - xx[79]; |
| 9937 | xx[105] = - xx[50]; |
| 9938 | xx[106] = - xx[97]; |
| 9939 | xx[107] = xx[112]; |
| 9940 | xx[108] = xx[113]; |
| 9941 | xx[109] = state[74]; |
| 9942 | pm_math_cross3(xx + 107, xx + 56, xx + 110); |
| 9943 | pm_math_quatXform(xx + 103, xx + 110, xx + 107); |
| 9944 | pm_math_quatXform(xx + 103, xx + 56, xx + 110); |
| 9945 | xx[50] = xx[107] - xx[111] * state[67]; |
| 9946 | xx[79] = xx[108] + xx[110] * state[67]; |
| 9947 | xx[97] = xx[79] * xx[87] + xx[80] * xx[50]; |
| 9948 | xx[98] = xx[61] * xx[87] + xx[89] * xx[80]; |
| 9949 | xx[103] = xx[87] * xx[111] + xx[110] * xx[80]; |
| 9950 | xx[104] = (xx[61] - xx[51] * xx[102] * xx[80]) * state[67] + xx[50] - xx[51] * |
| 9951 | xx[97] * xx[80] + (xx[111] + xx[51] * xx[98] * xx[87] - xx[51] * xx[103] * |
| 9952 | xx[87] - xx[61]) * state[65]; |
| 9953 | xx[105] = xx[79] - xx[51] * xx[97] * xx[87] - (xx[89] + xx[51] * xx[102] * xx |
| 9954 | [87]) * state[67] - (xx[110] + xx[51] * xx[98] * xx[80] - xx[51] * xx[103] * |
| 9955 | xx[80] + 0.03194045366071555) * state[65]; |
| 9956 | xx[106] = xx[109] - (xx[87] * xx[87] * xx[109] + xx[109] * xx[80] * xx[80]) * |
| 9957 | xx[51]; |
| 9958 | pm_math_quatXform(xx + 93, xx + 104, xx + 107); |
| 9959 | xx[50] = (xx[34] - (xx[10] * xx[40] + xx[8] * xx[39]) * xx[51]) * state[24]; |
| 9960 | xx[8] = xx[51] * (xx[39] * xx[2] + xx[40] * xx[9]) * state[24]; |
| 9961 | xx[2] = xx[1] * state[45]; |
| 9962 | xx[9] = sin(xx[2]); |
| 9963 | xx[10] = xx[31] * xx[9]; |
| 9964 | xx[39] = cos(xx[2]); |
| 9965 | xx[2] = xx[31] * xx[39]; |
| 9966 | xx[31] = xx[10] - xx[2]; |
| 9967 | xx[40] = xx[25] * xx[39]; |
| 9968 | xx[39] = xx[25] * xx[9]; |
| 9969 | xx[9] = xx[40] + xx[39]; |
| 9970 | xx[25] = - xx[9]; |
| 9971 | xx[61] = xx[39] - xx[40]; |
| 9972 | xx[39] = xx[10] + xx[2]; |
| 9973 | xx[2] = - xx[39]; |
| 9974 | xx[93] = xx[31]; |
| 9975 | xx[94] = xx[25]; |
| 9976 | xx[95] = xx[61]; |
| 9977 | xx[96] = xx[2]; |
| 9978 | pm_math_quatCompose(xx + 74, xx + 93, xx + 102); |
| 9979 | pm_math_quatCompose(xx + 20, xx + 102, xx + 110); |
| 9980 | pm_math_quatCompose(xx + 15, xx + 110, xx + 117); |
| 9981 | xx[10] = xx[119] * xx[28] - xx[29] * xx[118]; |
| 9982 | xx[40] = xx[120] * xx[28] - xx[29] * xx[117]; |
| 9983 | xx[79] = xx[117] * xx[28] + xx[29] * xx[120]; |
| 9984 | xx[80] = xx[29] * xx[119] + xx[118] * xx[28]; |
| 9985 | xx[121] = - xx[10]; |
| 9986 | xx[122] = xx[40]; |
| 9987 | xx[123] = xx[79]; |
| 9988 | xx[124] = - xx[80]; |
| 9989 | pm_math_quatCompose(xx + 11, xx + 121, xx + 125); |
| 9990 | xx[87] = xx[79] * state[24]; |
| 9991 | xx[89] = xx[40] * state[24]; |
| 9992 | xx[97] = xx[118] * state[26]; |
| 9993 | xx[98] = xx[119] * state[26]; |
| 9994 | pm_math_quatInverseXform(xx + 110, xx + 62, xx + 121); |
| 9995 | pm_math_quatInverseXform(xx + 102, xx + 41, xx + 110); |
| 9996 | xx[102] = xx[25]; |
| 9997 | xx[103] = xx[61]; |
| 9998 | xx[104] = xx[2]; |
| 9999 | xx[2] = xx[38] * xx[61]; |
| 10000 | xx[25] = xx[39] * xx[37] - xx[9] * xx[38]; |
| 10001 | xx[105] = xx[37] * xx[61]; |
| 10002 | xx[129] = - xx[2]; |
| 10003 | xx[130] = xx[25]; |
| 10004 | xx[131] = xx[105]; |
| 10005 | pm_math_cross3(xx + 102, xx + 129, xx + 132); |
| 10006 | xx[129] = xx[51] * (xx[87] * xx[10] - xx[80] * xx[89]) + xx[51] * (xx[120] * |
| 10007 | xx[97] - xx[117] * xx[98]) + xx[121] + xx[110] + xx[51] * (xx[132] + xx[2] * |
| 10008 | xx[31]) - xx[37]; |
| 10009 | xx[130] = (xx[117] * xx[97] + xx[120] * xx[98]) * xx[51] + xx[122] + xx[111] + |
| 10010 | xx[51] * (xx[133] - xx[31] * xx[25]) - (xx[89] * xx[10] + xx[80] * xx[87]) * |
| 10011 | xx[51]; |
| 10012 | xx[131] = state[24] - (xx[89] * xx[40] + xx[79] * xx[87]) * xx[51] + state[26] |
| 10013 | - (xx[118] * xx[97] + xx[119] * xx[98]) * xx[51] + xx[123] + xx[112] + (xx |
| 10014 | [134] - xx[105] * xx[31]) * xx[51] - xx[38] + state[46]; |
| 10015 | pm_math_cross3(xx + 129, xx + 44, xx + 110); |
| 10016 | pm_math_quatXform(xx + 125, xx + 110, xx + 117); |
| 10017 | xx[2] = 1.121202762681406e-11; |
| 10018 | xx[10] = xx[39] * xx[2]; |
| 10019 | xx[25] = 6.145027516349377e-13; |
| 10020 | xx[40] = xx[39] * xx[25]; |
| 10021 | xx[39] = xx[25] * xx[61] - xx[9] * xx[2]; |
| 10022 | xx[110] = xx[10]; |
| 10023 | xx[111] = xx[40]; |
| 10024 | xx[112] = xx[39]; |
| 10025 | pm_math_cross3(xx + 102, xx + 110, xx + 120); |
| 10026 | xx[102] = - xx[2]; |
| 10027 | xx[103] = - xx[25]; |
| 10028 | xx[104] = - 3.999999999522439e-3; |
| 10029 | pm_math_quatXform(xx + 93, xx + 102, xx + 110); |
| 10030 | xx[9] = 0.05221615474387575 - xx[112]; |
| 10031 | xx[61] = 0.1412410329922704 - xx[110]; |
| 10032 | xx[93] = (xx[51] * (xx[120] + xx[10] * xx[31]) - xx[25]) * state[46] - xx[111] |
| 10033 | * xx[38]; |
| 10034 | xx[94] = (xx[2] + (xx[40] * xx[31] + xx[121]) * xx[51]) * state[46] + xx[37] * |
| 10035 | xx[9] - xx[38] * xx[61]; |
| 10036 | xx[95] = xx[51] * (xx[31] * xx[39] + xx[122]) * state[46] + xx[111] * xx[37]; |
| 10037 | pm_math_quatXform(xx + 74, xx + 93, xx + 96); |
| 10038 | xx[93] = xx[61]; |
| 10039 | xx[94] = - xx[111]; |
| 10040 | xx[95] = xx[9]; |
| 10041 | pm_math_quatXform(xx + 74, xx + 93, xx + 102); |
| 10042 | xx[93] = xx[102] - xx[69]; |
| 10043 | xx[94] = xx[103] + xx[36]; |
| 10044 | xx[95] = xx[104] - xx[70]; |
| 10045 | pm_math_cross3(xx + 41, xx + 93, xx + 102); |
| 10046 | xx[110] = xx[68] + xx[96] + xx[102]; |
| 10047 | xx[111] = xx[24] + xx[97] + xx[103]; |
| 10048 | xx[112] = xx[98] - xx[26] + xx[104]; |
| 10049 | pm_math_quatXform(xx + 20, xx + 110, xx + 96); |
| 10050 | pm_math_quatXform(xx + 20, xx + 93, xx + 102); |
| 10051 | xx[93] = xx[102] + xx[32]; |
| 10052 | xx[94] = xx[103] + xx[60]; |
| 10053 | xx[95] = xx[104] + xx[81]; |
| 10054 | pm_math_cross3(xx + 62, xx + 93, xx + 102); |
| 10055 | xx[110] = xx[71] + xx[96] + xx[102]; |
| 10056 | xx[111] = xx[72] + xx[97] + xx[103]; |
| 10057 | xx[112] = xx[73] + xx[98] + xx[104]; |
| 10058 | pm_math_quatXform(xx + 15, xx + 110, xx + 96); |
| 10059 | pm_math_quatXform(xx + 15, xx + 93, xx + 102); |
| 10060 | xx[2] = xx[103] + xx[86]; |
| 10061 | xx[9] = xx[65] + xx[96] - xx[2] * state[26]; |
| 10062 | xx[10] = xx[102] + xx[85]; |
| 10063 | xx[25] = xx[66] + xx[97] + xx[10] * state[26]; |
| 10064 | xx[31] = xx[25] * xx[29] + xx[28] * xx[9]; |
| 10065 | xx[39] = xx[2] * xx[29] + xx[10] * xx[28]; |
| 10066 | xx[40] = xx[67] + xx[98]; |
| 10067 | xx[93] = xx[55] + xx[9] - xx[51] * xx[31] * xx[28] - (xx[2] - xx[51] * xx[39] * |
| 10068 | xx[29] + xx[91]) * state[24]; |
| 10069 | xx[94] = xx[49] + xx[25] - xx[51] * xx[31] * xx[29] + (xx[10] - xx[51] * xx[39] |
| 10070 | * xx[28] + xx[48]) * state[24]; |
| 10071 | xx[95] = xx[40] - (xx[29] * xx[40] * xx[29] + xx[40] * xx[28] * xx[28]) * xx |
| 10072 | [51]; |
| 10073 | pm_math_quatXform(xx + 11, xx + 93, xx + 96); |
| 10074 | xx[2] = xx[1] * state[53]; |
| 10075 | xx[9] = cos(xx[2]); |
| 10076 | xx[10] = sin(xx[2]); |
| 10077 | xx[2] = xx[0] * xx[9] + xx[4] * xx[10]; |
| 10078 | xx[25] = xx[6] * xx[10] - xx[7] * xx[9]; |
| 10079 | xx[31] = xx[6] * xx[9] + xx[7] * xx[10]; |
| 10080 | xx[6] = xx[0] * xx[10] - xx[4] * xx[9]; |
| 10081 | xx[102] = xx[2]; |
| 10082 | xx[103] = xx[25]; |
| 10083 | xx[104] = xx[31]; |
| 10084 | xx[105] = xx[6]; |
| 10085 | xx[0] = xx[5] * state[59] - xx[3] * state[58]; |
| 10086 | xx[4] = xx[1] * state[55]; |
| 10087 | xx[7] = sin(xx[4]); |
| 10088 | xx[9] = cos(xx[4]); |
| 10089 | xx[4] = xx[3] * state[59] + xx[5] * state[58]; |
| 10090 | xx[10] = xx[0] * xx[7] - xx[9] * xx[4]; |
| 10091 | xx[39] = xx[3] * state[57] + xx[5] * state[60]; |
| 10092 | xx[40] = xx[3] * state[60] - xx[5] * state[57]; |
| 10093 | xx[61] = xx[7] * xx[39] + xx[9] * xx[40]; |
| 10094 | xx[79] = xx[7] * xx[40] - xx[9] * xx[39]; |
| 10095 | xx[80] = xx[0] * xx[9] + xx[7] * xx[4]; |
| 10096 | xx[110] = xx[10]; |
| 10097 | xx[111] = - xx[61]; |
| 10098 | xx[112] = xx[79]; |
| 10099 | xx[113] = xx[80]; |
| 10100 | pm_math_quatCompose(xx + 102, xx + 110, xx + 120); |
| 10101 | xx[87] = xx[0] * state[56]; |
| 10102 | xx[89] = xx[4] * state[56]; |
| 10103 | xx[93] = xx[3] * state[61]; |
| 10104 | xx[94] = xx[3] * state[62]; |
| 10105 | xx[95] = state[61] - (xx[3] * xx[93] - xx[5] * xx[94]) * xx[51]; |
| 10106 | xx[106] = xx[61] * state[54]; |
| 10107 | xx[110] = xx[79] * state[54]; |
| 10108 | xx[111] = state[62] - xx[51] * (xx[5] * xx[93] + xx[3] * xx[94]); |
| 10109 | xx[124] = (xx[87] * xx[40] + xx[89] * xx[39]) * xx[51] + xx[95] - xx[51] * |
| 10110 | (xx[106] * xx[80] + xx[10] * xx[110]); |
| 10111 | xx[125] = (xx[110] * xx[80] - xx[10] * xx[106]) * xx[51] + xx[51] * (xx[87] * |
| 10112 | xx[39] - xx[89] * xx[40]) + xx[111]; |
| 10113 | xx[126] = state[54] - (xx[106] * xx[61] + xx[79] * xx[110]) * xx[51] + state |
| 10114 | [56] - (xx[89] * xx[4] + xx[0] * xx[87]) * xx[51] + state[63]; |
| 10115 | pm_math_cross3(xx + 124, xx + 99, xx + 127); |
| 10116 | pm_math_quatXform(xx + 120, xx + 127, xx + 124); |
| 10117 | xx[10] = 0.02520954632904374; |
| 10118 | xx[61] = xx[25] * xx[10]; |
| 10119 | xx[79] = xx[6] * xx[10]; |
| 10120 | xx[80] = 5.443558296964576e-12; |
| 10121 | xx[87] = 9.27756931389703e-12; |
| 10122 | xx[89] = xx[87] * xx[9] + xx[80] * xx[7]; |
| 10123 | xx[120] = xx[40]; |
| 10124 | xx[121] = - xx[4]; |
| 10125 | xx[122] = - xx[0]; |
| 10126 | xx[123] = - xx[39]; |
| 10127 | xx[127] = xx[95]; |
| 10128 | xx[128] = xx[111]; |
| 10129 | xx[129] = state[63]; |
| 10130 | pm_math_cross3(xx + 127, xx + 56, xx + 93); |
| 10131 | pm_math_quatXform(xx + 120, xx + 93, xx + 110); |
| 10132 | pm_math_quatXform(xx + 120, xx + 56, xx + 93); |
| 10133 | xx[0] = xx[110] - xx[94] * state[56]; |
| 10134 | xx[4] = xx[111] + xx[93] * state[56]; |
| 10135 | xx[39] = xx[4] * xx[9] + xx[7] * xx[0]; |
| 10136 | xx[40] = xx[80] * xx[9] - xx[87] * xx[7]; |
| 10137 | xx[95] = xx[9] * xx[94] + xx[93] * xx[7]; |
| 10138 | xx[120] = (xx[80] - xx[51] * xx[89] * xx[7]) * state[56] + xx[0] - xx[51] * |
| 10139 | xx[39] * xx[7] - (xx[94] + xx[51] * xx[40] * xx[9] - xx[51] * xx[95] * xx[9] |
| 10140 | - xx[80]) * state[54]; |
| 10141 | xx[121] = (xx[87] - xx[51] * xx[89] * xx[9]) * state[56] + xx[4] - xx[51] * |
| 10142 | xx[39] * xx[9] + (xx[93] + xx[51] * xx[40] * xx[7] - xx[51] * xx[95] * xx[7] |
| 10143 | + 0.03194045368023388) * state[54]; |
| 10144 | xx[122] = xx[112] - (xx[9] * xx[9] * xx[112] + xx[112] * xx[7] * xx[7]) * xx |
| 10145 | [51]; |
| 10146 | pm_math_quatXform(xx + 102, xx + 120, xx + 93); |
| 10147 | xx[0] = 0.3535533905932758; |
| 10148 | xx[4] = xx[1] * state[47]; |
| 10149 | xx[7] = cos(xx[4]); |
| 10150 | xx[9] = xx[0] * xx[7]; |
| 10151 | xx[39] = sin(xx[4]); |
| 10152 | xx[4] = xx[0] * xx[39]; |
| 10153 | xx[40] = xx[9] + xx[4]; |
| 10154 | xx[80] = 0.6123724356957934; |
| 10155 | xx[87] = xx[80] * xx[39]; |
| 10156 | xx[39] = xx[80] * xx[7]; |
| 10157 | xx[7] = xx[87] - xx[39]; |
| 10158 | xx[89] = xx[39] + xx[87]; |
| 10159 | xx[39] = - xx[89]; |
| 10160 | xx[87] = xx[4] - xx[9]; |
| 10161 | xx[102] = - xx[40]; |
| 10162 | xx[103] = xx[7]; |
| 10163 | xx[104] = xx[39]; |
| 10164 | xx[105] = xx[87]; |
| 10165 | pm_math_quatCompose(xx + 74, xx + 102, xx + 110); |
| 10166 | pm_math_quatCompose(xx + 20, xx + 110, xx + 120); |
| 10167 | pm_math_quatCompose(xx + 15, xx + 120, xx + 127); |
| 10168 | xx[4] = xx[129] * xx[28] - xx[29] * xx[128]; |
| 10169 | xx[9] = xx[130] * xx[28] - xx[29] * xx[127]; |
| 10170 | xx[106] = xx[127] * xx[28] + xx[29] * xx[130]; |
| 10171 | xx[131] = xx[29] * xx[129] + xx[128] * xx[28]; |
| 10172 | xx[132] = - xx[4]; |
| 10173 | xx[133] = xx[9]; |
| 10174 | xx[134] = xx[106]; |
| 10175 | xx[135] = - xx[131]; |
| 10176 | pm_math_quatCompose(xx + 11, xx + 132, xx + 136); |
| 10177 | xx[132] = xx[106] * state[24]; |
| 10178 | xx[133] = xx[9] * state[24]; |
| 10179 | xx[134] = xx[128] * state[26]; |
| 10180 | xx[135] = xx[129] * state[26]; |
| 10181 | pm_math_quatInverseXform(xx + 120, xx + 62, xx + 140); |
| 10182 | pm_math_quatInverseXform(xx + 110, xx + 41, xx + 120); |
| 10183 | xx[110] = xx[7]; |
| 10184 | xx[111] = xx[39]; |
| 10185 | xx[112] = xx[87]; |
| 10186 | xx[39] = xx[89] * xx[38]; |
| 10187 | xx[113] = xx[38] * xx[7] - xx[37] * xx[87]; |
| 10188 | xx[123] = xx[89] * xx[37]; |
| 10189 | xx[143] = xx[39]; |
| 10190 | xx[144] = xx[113]; |
| 10191 | xx[145] = - xx[123]; |
| 10192 | pm_math_cross3(xx + 110, xx + 143, xx + 146); |
| 10193 | xx[143] = xx[51] * (xx[132] * xx[4] - xx[131] * xx[133]) + xx[51] * (xx[130] * |
| 10194 | xx[134] - xx[127] * xx[135]) + xx[140] + xx[120] + xx[51] * (xx[146] + xx[40] |
| 10195 | * xx[39]) - xx[37]; |
| 10196 | xx[144] = (xx[127] * xx[134] + xx[130] * xx[135]) * xx[51] + xx[141] + xx[121] |
| 10197 | + xx[51] * (xx[147] + xx[40] * xx[113]) - (xx[133] * xx[4] + xx[131] * xx |
| 10198 | [132]) * xx[51]; |
| 10199 | xx[145] = state[24] - (xx[133] * xx[9] + xx[106] * xx[132]) * xx[51] + state |
| 10200 | [26] - (xx[128] * xx[134] + xx[129] * xx[135]) * xx[51] + xx[142] + xx[122] |
| 10201 | + (xx[148] - xx[40] * xx[123]) * xx[51] - xx[38] - state[48]; |
| 10202 | pm_math_cross3(xx + 143, xx + 44, xx + 120); |
| 10203 | pm_math_quatXform(xx + 136, xx + 120, xx + 127); |
| 10204 | xx[4] = 3.80025733104361e-12; |
| 10205 | xx[9] = 3.881762117297072e-12; |
| 10206 | xx[39] = xx[9] * xx[87]; |
| 10207 | xx[106] = xx[4] * xx[87]; |
| 10208 | xx[87] = xx[9] * xx[7] + xx[89] * xx[4]; |
| 10209 | xx[120] = - xx[39]; |
| 10210 | xx[121] = xx[106]; |
| 10211 | xx[122] = xx[87]; |
| 10212 | pm_math_cross3(xx + 110, xx + 120, xx + 130); |
| 10213 | xx[110] = xx[9]; |
| 10214 | xx[111] = - xx[4]; |
| 10215 | xx[112] = 3.999999998874377e-3; |
| 10216 | pm_math_quatXform(xx + 102, xx + 110, xx + 120); |
| 10217 | xx[7] = 0.1412410329922711 + xx[120]; |
| 10218 | xx[89] = 0.05221615474387407 - xx[122]; |
| 10219 | xx[102] = (xx[4] + xx[51] * (xx[130] + xx[40] * xx[39])) * state[48] - xx[121] |
| 10220 | * xx[38]; |
| 10221 | xx[103] = (xx[9] + (xx[131] - xx[40] * xx[106]) * xx[51]) * state[48] + xx[38] |
| 10222 | * xx[7] + xx[37] * xx[89]; |
| 10223 | xx[104] = xx[51] * (xx[132] - xx[40] * xx[87]) * state[48] + xx[121] * xx[37]; |
| 10224 | pm_math_quatXform(xx + 74, xx + 102, xx + 110); |
| 10225 | xx[102] = - xx[7]; |
| 10226 | xx[103] = - xx[121]; |
| 10227 | xx[104] = xx[89]; |
| 10228 | pm_math_quatXform(xx + 74, xx + 102, xx + 120); |
| 10229 | xx[102] = xx[120] - xx[69]; |
| 10230 | xx[103] = xx[121] + xx[36]; |
| 10231 | xx[104] = xx[122] - xx[70]; |
| 10232 | pm_math_cross3(xx + 41, xx + 102, xx + 120); |
| 10233 | xx[130] = xx[68] + xx[110] + xx[120]; |
| 10234 | xx[131] = xx[24] + xx[111] + xx[121]; |
| 10235 | xx[132] = xx[112] - xx[26] + xx[122]; |
| 10236 | pm_math_quatXform(xx + 20, xx + 130, xx + 110); |
| 10237 | pm_math_quatXform(xx + 20, xx + 102, xx + 120); |
| 10238 | xx[102] = xx[120] + xx[32]; |
| 10239 | xx[103] = xx[121] + xx[60]; |
| 10240 | xx[104] = xx[122] + xx[81]; |
| 10241 | pm_math_cross3(xx + 62, xx + 102, xx + 120); |
| 10242 | xx[130] = xx[71] + xx[110] + xx[120]; |
| 10243 | xx[131] = xx[72] + xx[111] + xx[121]; |
| 10244 | xx[132] = xx[73] + xx[112] + xx[122]; |
| 10245 | pm_math_quatXform(xx + 15, xx + 130, xx + 110); |
| 10246 | pm_math_quatXform(xx + 15, xx + 102, xx + 120); |
| 10247 | xx[4] = xx[121] + xx[86]; |
| 10248 | xx[7] = xx[65] + xx[110] - xx[4] * state[26]; |
| 10249 | xx[9] = xx[120] + xx[85]; |
| 10250 | xx[39] = xx[66] + xx[111] + xx[9] * state[26]; |
| 10251 | xx[40] = xx[39] * xx[29] + xx[28] * xx[7]; |
| 10252 | xx[87] = xx[4] * xx[29] + xx[9] * xx[28]; |
| 10253 | xx[89] = xx[67] + xx[112]; |
| 10254 | xx[102] = xx[55] + xx[7] - xx[51] * xx[40] * xx[28] - (xx[4] - xx[51] * xx[87] |
| 10255 | * xx[29] + xx[91]) * state[24]; |
| 10256 | xx[103] = xx[49] + xx[39] - xx[51] * xx[40] * xx[29] + (xx[9] - xx[51] * xx[87] |
| 10257 | * xx[28] + xx[48]) * state[24]; |
| 10258 | xx[104] = xx[89] - (xx[29] * xx[89] * xx[29] + xx[89] * xx[28] * xx[28]) * xx |
| 10259 | [51]; |
| 10260 | pm_math_quatXform(xx + 11, xx + 102, xx + 110); |
| 10261 | xx[4] = 0.3162553791961485; |
| 10262 | xx[7] = xx[1] * state[75]; |
| 10263 | xx[9] = cos(xx[7]); |
| 10264 | xx[39] = 0.3162538200043588; |
| 10265 | xx[40] = sin(xx[7]); |
| 10266 | xx[7] = xx[4] * xx[9] - xx[39] * xx[40]; |
| 10267 | xx[87] = 0.6324445710612965; |
| 10268 | xx[89] = 0.6324396579890005; |
| 10269 | xx[102] = xx[87] * xx[9] + xx[89] * xx[40]; |
| 10270 | xx[103] = xx[87] * xx[40] - xx[89] * xx[9]; |
| 10271 | xx[87] = xx[39] * xx[9] + xx[4] * xx[40]; |
| 10272 | xx[120] = xx[7]; |
| 10273 | xx[121] = xx[102]; |
| 10274 | xx[122] = xx[103]; |
| 10275 | xx[123] = - xx[87]; |
| 10276 | xx[4] = xx[5] * state[81] - xx[3] * state[80]; |
| 10277 | xx[9] = xx[1] * state[77]; |
| 10278 | xx[39] = sin(xx[9]); |
| 10279 | xx[40] = cos(xx[9]); |
| 10280 | xx[9] = xx[3] * state[81] + xx[5] * state[80]; |
| 10281 | xx[89] = xx[4] * xx[39] - xx[40] * xx[9]; |
| 10282 | xx[104] = xx[3] * state[79] + xx[5] * state[82]; |
| 10283 | xx[105] = xx[3] * state[82] - xx[5] * state[79]; |
| 10284 | xx[106] = xx[39] * xx[104] + xx[40] * xx[105]; |
| 10285 | xx[113] = xx[39] * xx[105] - xx[40] * xx[104]; |
| 10286 | xx[130] = xx[4] * xx[40] + xx[39] * xx[9]; |
| 10287 | xx[131] = xx[89]; |
| 10288 | xx[132] = - xx[106]; |
| 10289 | xx[133] = xx[113]; |
| 10290 | xx[134] = xx[130]; |
| 10291 | pm_math_quatCompose(xx + 120, xx + 131, xx + 135); |
| 10292 | xx[131] = xx[113] * state[76]; |
| 10293 | xx[132] = xx[106] * state[76]; |
| 10294 | xx[133] = xx[4] * state[78]; |
| 10295 | xx[134] = xx[9] * state[78]; |
| 10296 | xx[139] = xx[3] * state[83]; |
| 10297 | xx[140] = xx[3] * state[84]; |
| 10298 | xx[141] = state[83] - (xx[3] * xx[139] - xx[5] * xx[140]) * xx[51]; |
| 10299 | xx[142] = state[84] - xx[51] * (xx[5] * xx[139] + xx[3] * xx[140]); |
| 10300 | xx[143] = xx[51] * (xx[89] * xx[131] + xx[132] * xx[130]) + (xx[133] * xx[105] |
| 10301 | + xx[134] * xx[104]) * xx[51] + xx[141]; |
| 10302 | xx[144] = xx[51] * (xx[133] * xx[104] - xx[134] * xx[105]) + xx[142] - (xx[131] |
| 10303 | * xx[130] - xx[89] * xx[132]) * xx[51]; |
| 10304 | xx[145] = (xx[132] * xx[106] + xx[113] * xx[131]) * xx[51] - state[76] + |
| 10305 | state[78] - (xx[134] * xx[9] + xx[4] * xx[133]) * xx[51] + state[85]; |
| 10306 | pm_math_cross3(xx + 143, xx + 99, xx + 130); |
| 10307 | pm_math_quatXform(xx + 135, xx + 130, xx + 143); |
| 10308 | xx[89] = 5.157931604049537e-12; |
| 10309 | xx[106] = 9.862118968695376e-13; |
| 10310 | xx[113] = xx[89] * xx[40] + xx[106] * xx[39]; |
| 10311 | xx[130] = xx[105]; |
| 10312 | xx[131] = - xx[9]; |
| 10313 | xx[132] = - xx[4]; |
| 10314 | xx[133] = - xx[104]; |
| 10315 | xx[134] = xx[141]; |
| 10316 | xx[135] = xx[142]; |
| 10317 | xx[136] = state[85]; |
| 10318 | pm_math_cross3(xx + 134, xx + 56, xx + 137); |
| 10319 | pm_math_quatXform(xx + 130, xx + 137, xx + 134); |
| 10320 | pm_math_quatXform(xx + 130, xx + 56, xx + 137); |
| 10321 | xx[4] = xx[134] - xx[138] * state[78]; |
| 10322 | xx[9] = xx[135] + xx[137] * state[78]; |
| 10323 | xx[104] = xx[9] * xx[40] + xx[39] * xx[4]; |
| 10324 | xx[105] = xx[89] * xx[39] - xx[106] * xx[40]; |
| 10325 | xx[130] = xx[40] * xx[138] + xx[137] * xx[39]; |
| 10326 | xx[131] = (xx[51] * xx[113] * xx[39] - xx[106]) * state[78] + xx[4] - xx[51] * |
| 10327 | xx[104] * xx[39] + (xx[138] + xx[51] * xx[105] * xx[40] - xx[51] * xx[130] * |
| 10328 | xx[40] + xx[106]) * state[76]; |
| 10329 | xx[132] = (xx[51] * xx[113] * xx[40] - xx[89]) * state[78] + xx[9] - xx[51] * |
| 10330 | xx[104] * xx[40] - (xx[137] + xx[51] * xx[105] * xx[39] - xx[51] * xx[130] * |
| 10331 | xx[39] + 0.03194045366579833) * state[76]; |
| 10332 | xx[133] = xx[136] - (xx[40] * xx[40] * xx[136] + xx[136] * xx[39] * xx[39]) * |
| 10333 | xx[51]; |
| 10334 | pm_math_quatXform(xx + 120, xx + 131, xx + 104); |
| 10335 | xx[4] = xx[34] * xx[102]; |
| 10336 | xx[9] = xx[34] * xx[87]; |
| 10337 | xx[39] = xx[1] * state[49]; |
| 10338 | xx[40] = cos(xx[39]); |
| 10339 | xx[89] = xx[0] * xx[40]; |
| 10340 | xx[113] = sin(xx[39]); |
| 10341 | xx[39] = xx[0] * xx[113]; |
| 10342 | xx[0] = xx[89] + xx[39]; |
| 10343 | xx[120] = xx[80] * xx[40]; |
| 10344 | xx[40] = xx[80] * xx[113]; |
| 10345 | xx[80] = xx[120] - xx[40]; |
| 10346 | xx[113] = xx[120] + xx[40]; |
| 10347 | xx[40] = xx[89] - xx[39]; |
| 10348 | xx[120] = xx[0]; |
| 10349 | xx[121] = xx[80]; |
| 10350 | xx[122] = xx[113]; |
| 10351 | xx[123] = xx[40]; |
| 10352 | pm_math_quatCompose(xx + 74, xx + 120, xx + 130); |
| 10353 | pm_math_quatCompose(xx + 20, xx + 130, xx + 134); |
| 10354 | pm_math_quatCompose(xx + 15, xx + 134, xx + 138); |
| 10355 | xx[39] = xx[140] * xx[28] - xx[29] * xx[139]; |
| 10356 | xx[89] = xx[141] * xx[28] - xx[29] * xx[138]; |
| 10357 | xx[142] = xx[138] * xx[28] + xx[29] * xx[141]; |
| 10358 | xx[146] = xx[29] * xx[140] + xx[139] * xx[28]; |
| 10359 | xx[147] = - xx[39]; |
| 10360 | xx[148] = xx[89]; |
| 10361 | xx[149] = xx[142]; |
| 10362 | xx[150] = - xx[146]; |
| 10363 | pm_math_quatCompose(xx + 11, xx + 147, xx + 151); |
| 10364 | xx[147] = xx[142] * state[24]; |
| 10365 | xx[148] = xx[89] * state[24]; |
| 10366 | xx[149] = xx[139] * state[26]; |
| 10367 | xx[150] = xx[140] * state[26]; |
| 10368 | pm_math_quatInverseXform(xx + 134, xx + 62, xx + 155); |
| 10369 | pm_math_quatInverseXform(xx + 130, xx + 41, xx + 134); |
| 10370 | xx[130] = xx[80]; |
| 10371 | xx[131] = xx[113]; |
| 10372 | xx[132] = xx[40]; |
| 10373 | xx[133] = xx[113] * xx[38]; |
| 10374 | xx[137] = xx[38] * xx[80] - xx[37] * xx[40]; |
| 10375 | xx[158] = xx[113] * xx[37]; |
| 10376 | xx[159] = - xx[133]; |
| 10377 | xx[160] = xx[137]; |
| 10378 | xx[161] = xx[158]; |
| 10379 | pm_math_cross3(xx + 130, xx + 159, xx + 162); |
| 10380 | xx[159] = xx[51] * (xx[147] * xx[39] - xx[146] * xx[148]) + xx[51] * (xx[141] * |
| 10381 | xx[149] - xx[138] * xx[150]) + xx[155] + xx[134] + xx[51] * (xx[162] + xx[0] |
| 10382 | * xx[133]) - xx[37]; |
| 10383 | xx[160] = (xx[138] * xx[149] + xx[141] * xx[150]) * xx[51] + xx[156] + xx[135] |
| 10384 | + xx[51] * (xx[163] - xx[0] * xx[137]) - (xx[148] * xx[39] + xx[146] * xx |
| 10385 | [147]) * xx[51]; |
| 10386 | xx[161] = state[24] - (xx[148] * xx[89] + xx[142] * xx[147]) * xx[51] + state |
| 10387 | [26] - (xx[139] * xx[149] + xx[140] * xx[150]) * xx[51] + xx[157] + xx[136] |
| 10388 | + (xx[164] - xx[0] * xx[158]) * xx[51] - xx[38] - state[50]; |
| 10389 | pm_math_cross3(xx + 159, xx + 44, xx + 133); |
| 10390 | pm_math_quatXform(xx + 151, xx + 133, xx + 136); |
| 10391 | xx[39] = 6.30935626036444e-12; |
| 10392 | xx[89] = 5.998698970888227e-12; |
| 10393 | xx[133] = xx[89] * xx[40]; |
| 10394 | xx[134] = xx[39] * xx[40]; |
| 10395 | xx[40] = xx[89] * xx[80] + xx[113] * xx[39]; |
| 10396 | xx[139] = xx[133]; |
| 10397 | xx[140] = xx[134]; |
| 10398 | xx[141] = - xx[40]; |
| 10399 | pm_math_cross3(xx + 130, xx + 139, xx + 146); |
| 10400 | xx[130] = - xx[89]; |
| 10401 | xx[131] = - xx[39]; |
| 10402 | xx[132] = 4.000000001735564e-3; |
| 10403 | pm_math_quatXform(xx + 120, xx + 130, xx + 139); |
| 10404 | xx[80] = 0.1158410329922713 + xx[139]; |
| 10405 | xx[113] = 0.09621024525612379 - xx[141]; |
| 10406 | xx[120] = (xx[39] + xx[51] * (xx[146] + xx[0] * xx[133])) * state[50] - xx[140] |
| 10407 | * xx[38]; |
| 10408 | xx[121] = ((xx[0] * xx[134] + xx[147]) * xx[51] - xx[89]) * state[50] + xx[38] |
| 10409 | * xx[80] + xx[37] * xx[113]; |
| 10410 | xx[122] = xx[51] * (xx[148] - xx[0] * xx[40]) * state[50] + xx[140] * xx[37]; |
| 10411 | pm_math_quatXform(xx + 74, xx + 120, xx + 130); |
| 10412 | xx[120] = - xx[80]; |
| 10413 | xx[121] = - xx[140]; |
| 10414 | xx[122] = xx[113]; |
| 10415 | pm_math_quatXform(xx + 74, xx + 120, xx + 133); |
| 10416 | xx[120] = xx[133] - xx[69]; |
| 10417 | xx[121] = xx[134] + xx[36]; |
| 10418 | xx[122] = xx[135] - xx[70]; |
| 10419 | pm_math_cross3(xx + 41, xx + 120, xx + 133); |
| 10420 | xx[139] = xx[68] + xx[130] + xx[133]; |
| 10421 | xx[140] = xx[24] + xx[131] + xx[134]; |
| 10422 | xx[141] = xx[132] - xx[26] + xx[135]; |
| 10423 | pm_math_quatXform(xx + 20, xx + 139, xx + 130); |
| 10424 | pm_math_quatXform(xx + 20, xx + 120, xx + 133); |
| 10425 | xx[120] = xx[133] + xx[32]; |
| 10426 | xx[121] = xx[134] + xx[60]; |
| 10427 | xx[122] = xx[135] + xx[81]; |
| 10428 | pm_math_cross3(xx + 62, xx + 120, xx + 133); |
| 10429 | xx[139] = xx[71] + xx[130] + xx[133]; |
| 10430 | xx[140] = xx[72] + xx[131] + xx[134]; |
| 10431 | xx[141] = xx[73] + xx[132] + xx[135]; |
| 10432 | pm_math_quatXform(xx + 15, xx + 139, xx + 130); |
| 10433 | pm_math_quatXform(xx + 15, xx + 120, xx + 133); |
| 10434 | xx[0] = xx[134] + xx[86]; |
| 10435 | xx[39] = xx[65] + xx[130] - xx[0] * state[26]; |
| 10436 | xx[40] = xx[133] + xx[85]; |
| 10437 | xx[80] = xx[66] + xx[131] + xx[40] * state[26]; |
| 10438 | xx[89] = xx[80] * xx[29] + xx[28] * xx[39]; |
| 10439 | xx[113] = xx[0] * xx[29] + xx[40] * xx[28]; |
| 10440 | xx[120] = xx[67] + xx[132]; |
| 10441 | xx[121] = xx[55] + xx[39] - xx[51] * xx[89] * xx[28] - (xx[0] - xx[51] * xx |
| 10442 | [113] * xx[29] + xx[91]) * state[24]; |
| 10443 | xx[122] = xx[49] + xx[80] - xx[51] * xx[89] * xx[29] + (xx[40] - xx[51] * xx |
| 10444 | [113] * xx[28] + xx[48]) * state[24]; |
| 10445 | xx[123] = xx[120] - (xx[29] * xx[120] * xx[29] + xx[120] * xx[28] * xx[28]) * |
| 10446 | xx[51]; |
| 10447 | pm_math_quatXform(xx + 11, xx + 121, xx + 130); |
| 10448 | xx[0] = 0.3162538200043575; |
| 10449 | xx[39] = xx[1] * state[86]; |
| 10450 | xx[40] = sin(xx[39]); |
| 10451 | xx[80] = 0.3162553791961478; |
| 10452 | xx[89] = cos(xx[39]); |
| 10453 | xx[39] = xx[0] * xx[40] - xx[80] * xx[89]; |
| 10454 | xx[113] = 0.6324445710612973; |
| 10455 | xx[120] = 0.6324396579890008; |
| 10456 | xx[121] = xx[113] * xx[89] + xx[120] * xx[40]; |
| 10457 | xx[122] = xx[120] * xx[89] - xx[113] * xx[40]; |
| 10458 | xx[113] = xx[0] * xx[89] + xx[80] * xx[40]; |
| 10459 | xx[139] = xx[39]; |
| 10460 | xx[140] = - xx[121]; |
| 10461 | xx[141] = xx[122]; |
| 10462 | xx[142] = xx[113]; |
| 10463 | xx[0] = xx[5] * state[92] - xx[3] * state[91]; |
| 10464 | xx[40] = xx[1] * state[88]; |
| 10465 | xx[80] = sin(xx[40]); |
| 10466 | xx[89] = cos(xx[40]); |
| 10467 | xx[40] = xx[3] * state[92] + xx[5] * state[91]; |
| 10468 | xx[120] = xx[0] * xx[80] - xx[89] * xx[40]; |
| 10469 | xx[123] = xx[3] * state[90] + xx[5] * state[93]; |
| 10470 | xx[133] = xx[3] * state[93] - xx[5] * state[90]; |
| 10471 | xx[134] = xx[80] * xx[123] + xx[89] * xx[133]; |
| 10472 | xx[135] = xx[80] * xx[133] - xx[89] * xx[123]; |
| 10473 | xx[146] = xx[0] * xx[89] + xx[80] * xx[40]; |
| 10474 | xx[147] = xx[120]; |
| 10475 | xx[148] = - xx[134]; |
| 10476 | xx[149] = xx[135]; |
| 10477 | xx[150] = xx[146]; |
| 10478 | pm_math_quatCompose(xx + 139, xx + 147, xx + 151); |
| 10479 | xx[147] = xx[135] * state[87]; |
| 10480 | xx[148] = xx[134] * state[87]; |
| 10481 | xx[149] = xx[0] * state[89]; |
| 10482 | xx[150] = xx[40] * state[89]; |
| 10483 | xx[155] = xx[3] * state[94]; |
| 10484 | xx[156] = xx[3] * state[95]; |
| 10485 | xx[157] = state[94] - (xx[3] * xx[155] - xx[5] * xx[156]) * xx[51]; |
| 10486 | xx[158] = state[95] - xx[51] * (xx[5] * xx[155] + xx[3] * xx[156]); |
| 10487 | xx[159] = xx[51] * (xx[120] * xx[147] + xx[148] * xx[146]) + (xx[149] * xx[133] |
| 10488 | + xx[150] * xx[123]) * xx[51] + xx[157]; |
| 10489 | xx[160] = xx[51] * (xx[149] * xx[123] - xx[150] * xx[133]) + xx[158] - (xx[147] |
| 10490 | * xx[146] - xx[120] * xx[148]) * xx[51]; |
| 10491 | xx[161] = (xx[148] * xx[134] + xx[135] * xx[147]) * xx[51] - state[87] + |
| 10492 | state[89] - (xx[150] * xx[40] + xx[0] * xx[149]) * xx[51] + state[96]; |
| 10493 | pm_math_cross3(xx + 159, xx + 99, xx + 146); |
| 10494 | pm_math_quatXform(xx + 151, xx + 146, xx + 159); |
| 10495 | xx[120] = xx[34] * xx[121]; |
| 10496 | xx[134] = xx[34] * xx[113]; |
| 10497 | xx[135] = 1.600627075326599e-13; |
| 10498 | xx[146] = 8.497959654019115e-12; |
| 10499 | xx[147] = xx[135] * xx[89] + xx[146] * xx[80]; |
| 10500 | xx[148] = xx[133]; |
| 10501 | xx[149] = - xx[40]; |
| 10502 | xx[150] = - xx[0]; |
| 10503 | xx[151] = - xx[123]; |
| 10504 | xx[152] = xx[157]; |
| 10505 | xx[153] = xx[158]; |
| 10506 | xx[154] = state[96]; |
| 10507 | pm_math_cross3(xx + 152, xx + 56, xx + 155); |
| 10508 | pm_math_quatXform(xx + 148, xx + 155, xx + 152); |
| 10509 | pm_math_quatXform(xx + 148, xx + 56, xx + 155); |
| 10510 | xx[0] = xx[152] - xx[156] * state[89]; |
| 10511 | xx[40] = xx[153] + xx[155] * state[89]; |
| 10512 | xx[123] = xx[40] * xx[89] + xx[80] * xx[0]; |
| 10513 | xx[133] = xx[135] * xx[80] - xx[146] * xx[89]; |
| 10514 | xx[148] = xx[89] * xx[156] + xx[155] * xx[80]; |
| 10515 | xx[149] = (xx[51] * xx[147] * xx[80] - xx[146]) * state[89] + xx[0] - xx[51] * |
| 10516 | xx[123] * xx[80] + (xx[156] + xx[51] * xx[133] * xx[89] - xx[51] * xx[148] * |
| 10517 | xx[89] + xx[146]) * state[87]; |
| 10518 | xx[150] = (xx[51] * xx[147] * xx[89] - xx[135]) * state[89] + xx[40] - xx[51] * |
| 10519 | xx[123] * xx[89] - (xx[155] + xx[51] * xx[133] * xx[80] - xx[51] * xx[148] * |
| 10520 | xx[80] + 0.03194045367079622) * state[87]; |
| 10521 | xx[151] = xx[154] - (xx[89] * xx[89] * xx[154] + xx[154] * xx[80] * xx[80]) * |
| 10522 | xx[51]; |
| 10523 | pm_math_quatXform(xx + 139, xx + 149, xx + 146); |
| 10524 | xx[0] = xx[1] * state[51]; |
| 10525 | xx[40] = cos(xx[0]); |
| 10526 | xx[80] = sin(xx[0]); |
| 10527 | xx[139] = xx[40] * xx[35] + xx[80] * xx[19]; |
| 10528 | xx[140] = xx[30] * xx[40] - xx[80] * xx[33]; |
| 10529 | xx[141] = xx[40] * xx[33] + xx[30] * xx[80]; |
| 10530 | xx[142] = xx[40] * xx[19] - xx[80] * xx[35]; |
| 10531 | pm_math_quatCompose(xx + 20, xx + 139, xx + 149); |
| 10532 | pm_math_quatCompose(xx + 15, xx + 149, xx + 153); |
| 10533 | xx[0] = xx[155] * xx[28] - xx[29] * xx[154]; |
| 10534 | xx[19] = xx[156] * xx[28] - xx[29] * xx[153]; |
| 10535 | xx[30] = xx[153] * xx[28] + xx[29] * xx[156]; |
| 10536 | xx[33] = xx[29] * xx[155] + xx[154] * xx[28]; |
| 10537 | xx[162] = - xx[0]; |
| 10538 | xx[163] = xx[19]; |
| 10539 | xx[164] = xx[30]; |
| 10540 | xx[165] = - xx[33]; |
| 10541 | pm_math_quatCompose(xx + 11, xx + 162, xx + 166); |
| 10542 | xx[35] = xx[30] * state[24]; |
| 10543 | xx[89] = xx[19] * state[24]; |
| 10544 | xx[123] = xx[154] * state[26]; |
| 10545 | xx[133] = xx[155] * state[26]; |
| 10546 | pm_math_quatInverseXform(xx + 149, xx + 62, xx + 162); |
| 10547 | pm_math_quatInverseXform(xx + 139, xx + 41, xx + 149); |
| 10548 | xx[135] = xx[37] * xx[80]; |
| 10549 | xx[139] = xx[51] * (xx[35] * xx[0] - xx[33] * xx[89]) + xx[51] * (xx[156] * |
| 10550 | xx[123] - xx[153] * xx[133]) + xx[162] + xx[149] + xx[51] * xx[135] * xx[80] |
| 10551 | - xx[37]; |
| 10552 | xx[140] = (xx[153] * xx[123] + xx[156] * xx[133]) * xx[51] + xx[163] + xx[150] |
| 10553 | - xx[51] * xx[40] * xx[135] - (xx[89] * xx[0] + xx[33] * xx[35]) * xx[51]; |
| 10554 | xx[141] = state[24] - (xx[89] * xx[19] + xx[30] * xx[35]) * xx[51] + state[26] |
| 10555 | - (xx[154] * xx[123] + xx[155] * xx[133]) * xx[51] + xx[164] + xx[151] - |
| 10556 | (xx[38] + state[52]); |
| 10557 | pm_math_cross3(xx + 139, xx + 44, xx + 149); |
| 10558 | pm_math_quatXform(xx + 166, xx + 149, xx + 44); |
| 10559 | xx[0] = 5.61723311615081e-12; |
| 10560 | xx[19] = 6.817225262079063e-12; |
| 10561 | xx[30] = xx[19] * xx[80]; |
| 10562 | xx[33] = xx[40] * xx[30]; |
| 10563 | xx[35] = xx[0] * xx[80]; |
| 10564 | xx[89] = xx[35] * xx[80]; |
| 10565 | xx[123] = (xx[33] + xx[89]) * xx[51] - xx[0]; |
| 10566 | xx[133] = xx[40] * xx[35]; |
| 10567 | xx[35] = xx[30] * xx[80]; |
| 10568 | xx[30] = 0.02540000000000185 - (xx[51] * (xx[35] - xx[133]) - xx[19]); |
| 10569 | xx[40] = 0.152426400001803; |
| 10570 | xx[139] = (xx[0] - xx[51] * (xx[33] + xx[89])) * state[52] - xx[38] * xx[123]; |
| 10571 | xx[140] = - ((xx[19] + (xx[133] - xx[35]) * xx[51]) * state[52] + xx[38] * xx |
| 10572 | [30] + xx[40] * xx[37]); |
| 10573 | xx[141] = xx[37] * xx[123]; |
| 10574 | pm_math_quatXform(xx + 74, xx + 139, xx + 149); |
| 10575 | xx[139] = xx[30]; |
| 10576 | xx[140] = - xx[123]; |
| 10577 | xx[141] = - xx[40]; |
| 10578 | pm_math_quatXform(xx + 74, xx + 139, xx + 152); |
| 10579 | xx[74] = xx[152] - xx[69]; |
| 10580 | xx[75] = xx[153] + xx[36]; |
| 10581 | xx[76] = xx[154] - xx[70]; |
| 10582 | pm_math_cross3(xx + 41, xx + 74, xx + 35); |
| 10583 | xx[40] = xx[68] + xx[149] + xx[35]; |
| 10584 | xx[41] = xx[24] + xx[150] + xx[36]; |
| 10585 | xx[42] = xx[151] - xx[26] + xx[37]; |
| 10586 | pm_math_quatXform(xx + 20, xx + 40, xx + 35); |
| 10587 | pm_math_quatXform(xx + 20, xx + 74, xx + 40); |
| 10588 | xx[19] = xx[40] + xx[32]; |
| 10589 | xx[20] = xx[41] + xx[60]; |
| 10590 | xx[21] = xx[42] + xx[81]; |
| 10591 | pm_math_cross3(xx + 62, xx + 19, xx + 22); |
| 10592 | xx[40] = xx[71] + xx[35] + xx[22]; |
| 10593 | xx[41] = xx[72] + xx[36] + xx[23]; |
| 10594 | xx[42] = xx[73] + xx[37] + xx[24]; |
| 10595 | pm_math_quatXform(xx + 15, xx + 40, xx + 22); |
| 10596 | pm_math_quatXform(xx + 15, xx + 19, xx + 35); |
| 10597 | xx[0] = xx[36] + xx[86]; |
| 10598 | xx[15] = xx[65] + xx[22] - xx[0] * state[26]; |
| 10599 | xx[16] = xx[35] + xx[85]; |
| 10600 | xx[17] = xx[66] + xx[23] + xx[16] * state[26]; |
| 10601 | xx[18] = xx[17] * xx[29] + xx[28] * xx[15]; |
| 10602 | xx[19] = xx[0] * xx[29] + xx[16] * xx[28]; |
| 10603 | xx[20] = xx[67] + xx[24]; |
| 10604 | xx[21] = xx[55] + xx[15] - xx[51] * xx[18] * xx[28] - (xx[0] - xx[51] * xx[19] |
| 10605 | * xx[29] + xx[91]) * state[24]; |
| 10606 | xx[22] = xx[49] + xx[17] - xx[51] * xx[18] * xx[29] + (xx[16] - xx[51] * xx[19] |
| 10607 | * xx[28] + xx[48]) * state[24]; |
| 10608 | xx[23] = xx[20] - (xx[29] * xx[20] * xx[29] + xx[20] * xx[28] * xx[28]) * xx |
| 10609 | [51]; |
| 10610 | pm_math_quatXform(xx + 11, xx + 21, xx + 15); |
| 10611 | xx[0] = 0.3895853754265615; |
| 10612 | xx[11] = xx[1] * state[12]; |
| 10613 | xx[12] = cos(xx[11]); |
| 10614 | xx[13] = 0.389581900177037; |
| 10615 | xx[14] = sin(xx[11]); |
| 10616 | xx[11] = xx[0] * xx[12] - xx[13] * xx[14]; |
| 10617 | xx[18] = 0.5901074779979933; |
| 10618 | xx[19] = 0.5901036711621462; |
| 10619 | xx[20] = xx[18] * xx[12] + xx[19] * xx[14]; |
| 10620 | xx[21] = xx[19] * xx[12] - xx[18] * xx[14]; |
| 10621 | xx[18] = xx[13] * xx[12] + xx[0] * xx[14]; |
| 10622 | xx[35] = xx[11]; |
| 10623 | xx[36] = - xx[20]; |
| 10624 | xx[37] = xx[21]; |
| 10625 | xx[38] = - xx[18]; |
| 10626 | xx[0] = xx[5] * state[18] - xx[3] * state[17]; |
| 10627 | xx[12] = xx[1] * state[14]; |
| 10628 | xx[1] = sin(xx[12]); |
| 10629 | xx[13] = cos(xx[12]); |
| 10630 | xx[12] = xx[3] * state[18] + xx[5] * state[17]; |
| 10631 | xx[14] = xx[0] * xx[1] - xx[13] * xx[12]; |
| 10632 | xx[19] = xx[3] * state[16] + xx[5] * state[19]; |
| 10633 | xx[22] = xx[3] * state[19] - xx[5] * state[16]; |
| 10634 | xx[23] = xx[1] * xx[19] + xx[13] * xx[22]; |
| 10635 | xx[24] = xx[1] * xx[22] - xx[13] * xx[19]; |
| 10636 | xx[26] = xx[0] * xx[13] + xx[1] * xx[12]; |
| 10637 | xx[40] = xx[14]; |
| 10638 | xx[41] = - xx[23]; |
| 10639 | xx[42] = xx[24]; |
| 10640 | xx[43] = xx[26]; |
| 10641 | pm_math_quatCompose(xx + 35, xx + 40, xx + 62); |
| 10642 | xx[28] = xx[24] * state[13]; |
| 10643 | xx[29] = xx[23] * state[13]; |
| 10644 | xx[30] = xx[0] * state[15]; |
| 10645 | xx[32] = xx[12] * state[15]; |
| 10646 | xx[33] = xx[3] * state[20]; |
| 10647 | xx[40] = xx[3] * state[21]; |
| 10648 | xx[41] = state[20] - (xx[3] * xx[33] - xx[5] * xx[40]) * xx[51]; |
| 10649 | xx[42] = state[21] - xx[51] * (xx[5] * xx[33] + xx[3] * xx[40]); |
| 10650 | xx[66] = xx[51] * (xx[14] * xx[28] + xx[29] * xx[26]) + (xx[30] * xx[22] + xx |
| 10651 | [32] * xx[19]) * xx[51] + xx[41]; |
| 10652 | xx[67] = xx[51] * (xx[30] * xx[19] - xx[32] * xx[22]) + xx[42] - (xx[28] * xx |
| 10653 | [26] - xx[14] * xx[29]) * xx[51]; |
| 10654 | xx[68] = (xx[29] * xx[23] + xx[24] * xx[28]) * xx[51] - state[13] + state[15] |
| 10655 | - (xx[32] * xx[12] + xx[0] * xx[30]) * xx[51] + state[22]; |
| 10656 | pm_math_cross3(xx + 66, xx + 99, xx + 28); |
| 10657 | pm_math_quatXform(xx + 62, xx + 28, xx + 66); |
| 10658 | xx[3] = xx[34] * xx[20]; |
| 10659 | xx[5] = xx[34] * xx[18]; |
| 10660 | xx[62] = xx[22]; |
| 10661 | xx[63] = - xx[12]; |
| 10662 | xx[64] = - xx[0]; |
| 10663 | xx[65] = - xx[19]; |
| 10664 | xx[22] = xx[41]; |
| 10665 | xx[23] = xx[42]; |
| 10666 | xx[24] = state[22]; |
| 10667 | pm_math_cross3(xx + 22, xx + 56, xx + 28); |
| 10668 | pm_math_quatXform(xx + 62, xx + 28, xx + 22); |
| 10669 | pm_math_quatXform(xx + 62, xx + 56, xx + 28); |
| 10670 | xx[0] = xx[22] - xx[29] * state[15]; |
| 10671 | xx[12] = xx[23] + xx[28] * state[15]; |
| 10672 | xx[14] = xx[12] * xx[13] + xx[1] * xx[0]; |
| 10673 | xx[19] = 5.376764528053357e-12; |
| 10674 | xx[26] = 7.748428954013064e-12; |
| 10675 | xx[30] = xx[26] * xx[13] - xx[19] * xx[1]; |
| 10676 | xx[32] = xx[19] * xx[13] + xx[26] * xx[1]; |
| 10677 | xx[33] = xx[13] * xx[29] + xx[28] * xx[1]; |
| 10678 | xx[40] = xx[0] - xx[51] * xx[14] * xx[1] - (xx[19] + xx[51] * xx[30] * xx[1]) * |
| 10679 | state[15] + (xx[29] - xx[51] * xx[32] * xx[13] - xx[51] * xx[33] * xx[13] + |
| 10680 | xx[19]) * state[13]; |
| 10681 | xx[41] = (xx[26] - xx[51] * xx[30] * xx[13]) * state[15] + xx[12] - xx[51] * |
| 10682 | xx[14] * xx[13] - (xx[28] - xx[51] * xx[32] * xx[1] - xx[51] * xx[33] * xx[1] |
| 10683 | + 0.03194045367870467) * state[13]; |
| 10684 | xx[42] = xx[24] - (xx[13] * xx[13] * xx[24] + xx[24] * xx[1] * xx[1]) * xx[51]; |
| 10685 | pm_math_quatXform(xx + 35, xx + 40, xx + 12); |
| 10686 | xx[162] = fabs(xx[52] + xx[47] + xx[82] - (xx[114] + xx[51] * (xx[92] * xx[27] |
| 10687 | - xx[78] * xx[59]) * state[65] + xx[107])); |
| 10688 | xx[163] = fabs(xx[53] + xx[50] + xx[83] - (xx[115] + ((xx[59] * xx[88] + xx[27] |
| 10689 | * xx[90]) * xx[51] - xx[34]) * state[65] + xx[108])); |
| 10690 | xx[164] = fabs(xx[54] + xx[8] + xx[84] - (xx[116] + xx[51] * (xx[78] * xx[27] |
| 10691 | + xx[92] * xx[59]) * state[65] + xx[109])); |
| 10692 | xx[165] = fabs(xx[117] + xx[47] + xx[96] - (xx[124] + xx[51] * (xx[61] * xx[31] |
| 10693 | - xx[79] * xx[2]) * state[54] + xx[93])); |
| 10694 | xx[166] = fabs(xx[118] + xx[50] + xx[97] - (xx[125] + (xx[10] - (xx[6] * xx[79] |
| 10695 | + xx[25] * xx[61]) * xx[51]) * state[54] + xx[94])); |
| 10696 | xx[167] = fabs(xx[119] + xx[8] + xx[98] - (xx[126] + xx[51] * (xx[61] * xx[2] |
| 10697 | + xx[79] * xx[31]) * state[54] + xx[95])); |
| 10698 | xx[168] = fabs(xx[127] + xx[47] + xx[110] - (xx[143] + xx[104] - xx[51] * (xx |
| 10699 | [103] * xx[4] + xx[7] * xx[9]) * state[76])); |
| 10700 | xx[169] = fabs(xx[128] + xx[50] + xx[111] - (xx[144] + ((xx[9] * xx[87] + xx[4] |
| 10701 | * xx[102]) * xx[51] - xx[34]) * state[76] + xx[105])); |
| 10702 | xx[170] = fabs(xx[129] + xx[8] + xx[112] - (xx[145] + xx[51] * (xx[103] * xx[9] |
| 10703 | - xx[7] * xx[4]) * state[76] + xx[106])); |
| 10704 | xx[171] = fabs(xx[136] + xx[47] + xx[130] - (xx[159] + xx[51] * (xx[122] * xx |
| 10705 | [120] + xx[39] * xx[134]) * state[87] + xx[146])); |
| 10706 | xx[172] = fabs(xx[137] + xx[50] + xx[131] - (xx[160] + ((xx[134] * xx[113] + |
| 10707 | xx[120] * xx[121]) * xx[51] - xx[34]) * state[87] + xx[147])); |
| 10708 | xx[173] = fabs(xx[138] + xx[8] + xx[132] - (xx[161] + xx[51] * (xx[39] * xx |
| 10709 | [120] - xx[122] * xx[134]) * state[87] + xx[148])); |
| 10710 | xx[174] = fabs(xx[44] + xx[47] + xx[15] - (xx[66] + xx[51] * (xx[21] * xx[3] - |
| 10711 | xx[11] * xx[5]) * state[13] + xx[12])); |
| 10712 | xx[175] = fabs(xx[45] + xx[50] + xx[16] - (xx[67] + ((xx[5] * xx[18] + xx[3] * |
| 10713 | xx[20]) * xx[51] - xx[34]) * state[13] + xx[13])); |
| 10714 | xx[176] = fabs(xx[46] + xx[8] + xx[17] - (xx[68] + xx[51] * (xx[11] * xx[3] + |
| 10715 | xx[21] * xx[5]) * state[13] + xx[14])); |
| 10716 | ii[0] = 162; |
| 10717 | |
| 10718 | { |
| 10719 | int ll; |
| 10720 | for (ll = 163; ll < 177; ++ll) |
| 10721 | if (xx[ll] > xx[ii[0]]) |
| 10722 | ii[0] = ll; |
| 10723 | } |
| 10724 | |
| 10725 | ii[0] -= 162; |
| 10726 | xx[0] = xx[162 + (ii[0])]; |
| 10727 | xx[1] = xx[0] - 0.01; |
| 10728 | if (xx[1] < 0.0) |
| 10729 | ii[0] = -1; |
| 10730 | else if (xx[1] > 0.0) |
| 10731 | ii[0] = +1; |
| 10732 | else |
| 10733 | ii[0] = 0; |
| 10734 | ii[1] = ii[0]; |
| 10735 | if (0 > ii[1]) |
| 10736 | ii[1] = 0; |
| 10737 | return ii[1]; |
| 10738 | } |
| 10739 | |
| 10740 | PmfMessageId PlatformAssem_f0ca4364_1_projectStateSim(const void *mech, const |
| 10741 | double *rtdv, const int *eqnEnableFlags, const double *input, double *state, |
| 10742 | void *neDiagMgr0) |
| 10743 | { |
| 10744 | NeuDiagnosticManager *neDiagMgr = (NeuDiagnosticManager *) neDiagMgr0; |
| 10745 | int ii[15]; |
| 10746 | double xx[1964]; |
| 10747 | (void) mech; |
| 10748 | (void) rtdv; |
| 10749 | (void) eqnEnableFlags; |
| 10750 | (void) input; |
| 10751 | (void) neDiagMgr; |
| 10752 | xx[0] = 0.0; |
| 10753 | xx[1] = 0.7058357201813958; |
| 10754 | xx[2] = 0.5; |
| 10755 | xx[3] = xx[2] * state[23]; |
| 10756 | xx[4] = sin(xx[3]); |
| 10757 | xx[5] = 0.7058407546227096; |
| 10758 | xx[6] = cos(xx[3]); |
| 10759 | xx[3] = xx[1] * xx[4] - xx[5] * xx[6]; |
| 10760 | xx[7] = xx[2] * state[25]; |
| 10761 | xx[8] = cos(xx[7]); |
| 10762 | xx[9] = xx[3] * xx[8]; |
| 10763 | xx[10] = sin(xx[7]); |
| 10764 | xx[7] = xx[1] * xx[6] + xx[5] * xx[4]; |
| 10765 | xx[11] = xx[10] * xx[7]; |
| 10766 | xx[12] = 0.04233709306330295; |
| 10767 | xx[13] = 0.04233598682685397; |
| 10768 | xx[14] = xx[12] * xx[6] + xx[13] * xx[4]; |
| 10769 | xx[15] = xx[12] * xx[4] - xx[13] * xx[6]; |
| 10770 | xx[4] = - (xx[8] * xx[14] + xx[15] * xx[10]); |
| 10771 | xx[6] = xx[10] * xx[14] - xx[15] * xx[8]; |
| 10772 | xx[16] = xx[3] * xx[10] + xx[8] * xx[7]; |
| 10773 | xx[17] = xx[9] - xx[11]; |
| 10774 | xx[18] = xx[4]; |
| 10775 | xx[19] = xx[6]; |
| 10776 | xx[20] = xx[16]; |
| 10777 | xx[21] = 3.980251324392935e-7; |
| 10778 | xx[22] = 1.0; |
| 10779 | xx[23] = xx[22] / sqrt(state[27] * state[27] + state[28] * state[28] + state |
| 10780 | [29] * state[29] + state[30] * state[30]); |
| 10781 | xx[24] = xx[23] * state[30]; |
| 10782 | xx[25] = 0.999999999999921; |
| 10783 | xx[26] = xx[23] * state[27]; |
| 10784 | xx[27] = xx[21] * xx[24] - xx[25] * xx[26]; |
| 10785 | xx[28] = xx[23] * state[29]; |
| 10786 | xx[29] = xx[23] * state[28]; |
| 10787 | xx[23] = xx[21] * xx[28] + xx[25] * xx[29]; |
| 10788 | xx[30] = - xx[23]; |
| 10789 | xx[31] = xx[25] * xx[28] - xx[21] * xx[29]; |
| 10790 | xx[32] = - xx[31]; |
| 10791 | xx[33] = xx[21] * xx[26] + xx[25] * xx[24]; |
| 10792 | xx[34] = - xx[33]; |
| 10793 | xx[35] = xx[27]; |
| 10794 | xx[36] = xx[30]; |
| 10795 | xx[37] = xx[32]; |
| 10796 | xx[38] = xx[34]; |
| 10797 | xx[39] = xx[22] / sqrt(state[34] * state[34] + state[35] * state[35] + state |
| 10798 | [36] * state[36] + state[37] * state[37]); |
| 10799 | xx[40] = xx[39] * state[37]; |
| 10800 | xx[41] = 3.980251340548381e-7; |
| 10801 | xx[42] = xx[39] * state[34]; |
| 10802 | xx[43] = xx[25] * xx[40] - xx[41] * xx[42]; |
| 10803 | xx[44] = xx[39] * state[36]; |
| 10804 | xx[45] = xx[39] * state[35]; |
| 10805 | xx[39] = xx[25] * xx[44] - xx[41] * xx[45]; |
| 10806 | xx[46] = xx[41] * xx[44] + xx[25] * xx[45]; |
| 10807 | xx[47] = - xx[46]; |
| 10808 | xx[48] = xx[41] * xx[40] + xx[25] * xx[42]; |
| 10809 | xx[49] = - xx[48]; |
| 10810 | xx[50] = xx[43]; |
| 10811 | xx[51] = xx[39]; |
| 10812 | xx[52] = xx[47]; |
| 10813 | xx[53] = xx[49]; |
| 10814 | xx[54] = xx[2] * state[43]; |
| 10815 | xx[55] = cos(xx[54]); |
| 10816 | xx[56] = 0.3535533905932732; |
| 10817 | xx[57] = 0.8660254037844377; |
| 10818 | xx[58] = xx[2] * state[41]; |
| 10819 | xx[59] = sin(xx[58]); |
| 10820 | xx[60] = xx[57] * xx[59]; |
| 10821 | xx[61] = xx[56] * xx[60]; |
| 10822 | xx[62] = 0.6123724356957949; |
| 10823 | xx[63] = 0.5000000000000017; |
| 10824 | xx[64] = xx[63] * xx[59]; |
| 10825 | xx[59] = xx[62] * xx[64]; |
| 10826 | xx[65] = cos(xx[58]); |
| 10827 | xx[58] = xx[62] * xx[65]; |
| 10828 | xx[66] = xx[61] + xx[59] - xx[58]; |
| 10829 | xx[67] = sin(xx[54]); |
| 10830 | xx[54] = xx[59] + xx[58] + xx[61]; |
| 10831 | xx[58] = xx[55] * xx[66] + xx[67] * xx[54]; |
| 10832 | xx[59] = xx[62] * xx[60]; |
| 10833 | xx[60] = xx[56] * xx[65]; |
| 10834 | xx[61] = xx[56] * xx[64]; |
| 10835 | xx[64] = xx[59] + xx[60] - xx[61]; |
| 10836 | xx[65] = xx[60] - xx[59] + xx[61]; |
| 10837 | xx[59] = xx[64] * xx[55] - xx[67] * xx[65]; |
| 10838 | xx[60] = xx[55] * xx[65] + xx[64] * xx[67]; |
| 10839 | xx[61] = xx[55] * xx[54] - xx[67] * xx[66]; |
| 10840 | pm_math_quatCompose(xx + 50, xx + 58, xx + 68); |
| 10841 | pm_math_quatCompose(xx + 35, xx + 68, xx + 72); |
| 10842 | pm_math_quatCompose(xx + 17, xx + 72, xx + 76); |
| 10843 | xx[80] = 2.0; |
| 10844 | xx[81] = xx[80] * (xx[73] * xx[75] - xx[72] * xx[74]); |
| 10845 | xx[82] = (xx[72] * xx[73] + xx[74] * xx[75]) * xx[80]; |
| 10846 | xx[83] = xx[22] - (xx[73] * xx[73] + xx[74] * xx[74]) * xx[80]; |
| 10847 | xx[72] = 7.599121945184391e-12; |
| 10848 | xx[73] = 5.036130209737022e-12; |
| 10849 | xx[74] = 5.192027881355888e-12; |
| 10850 | xx[84] = - xx[72]; |
| 10851 | xx[85] = xx[73]; |
| 10852 | xx[86] = - xx[74]; |
| 10853 | pm_math_cross3(xx + 81, xx + 84, xx + 87); |
| 10854 | pm_math_quatXform(xx + 76, xx + 87, xx + 81); |
| 10855 | xx[75] = xx[66]; |
| 10856 | xx[76] = xx[64]; |
| 10857 | xx[77] = xx[65]; |
| 10858 | xx[78] = xx[54]; |
| 10859 | xx[79] = 0.02539999999999815; |
| 10860 | xx[87] = 2.191920996097441e-12; |
| 10861 | xx[88] = xx[87] * xx[67]; |
| 10862 | xx[89] = xx[55] * xx[88]; |
| 10863 | xx[90] = 3.368449963403463e-13; |
| 10864 | xx[91] = xx[90] * xx[67]; |
| 10865 | xx[92] = xx[91] * xx[67]; |
| 10866 | xx[93] = xx[79] + xx[80] * (xx[89] + xx[92]) - xx[90]; |
| 10867 | xx[94] = xx[88] * xx[67]; |
| 10868 | xx[88] = xx[55] * xx[91]; |
| 10869 | xx[91] = xx[87] - (xx[94] - xx[88]) * xx[80]; |
| 10870 | xx[95] = 0.1524264000010511; |
| 10871 | xx[96] = - xx[95]; |
| 10872 | xx[97] = - xx[93]; |
| 10873 | xx[98] = - xx[91]; |
| 10874 | xx[99] = xx[96]; |
| 10875 | pm_math_quatXform(xx + 75, xx + 97, xx + 100); |
| 10876 | xx[103] = 7.483145982728478e-12; |
| 10877 | xx[104] = 0.1158410329922703; |
| 10878 | xx[105] = 0.09621024525612519; |
| 10879 | xx[106] = xx[105] * xx[65]; |
| 10880 | xx[107] = xx[64]; |
| 10881 | xx[108] = xx[65]; |
| 10882 | xx[109] = xx[54]; |
| 10883 | xx[110] = xx[104] * xx[54] - xx[64] * xx[105]; |
| 10884 | xx[111] = xx[104] * xx[65]; |
| 10885 | xx[112] = xx[106]; |
| 10886 | xx[113] = xx[110]; |
| 10887 | xx[114] = - xx[111]; |
| 10888 | pm_math_cross3(xx + 107, xx + 112, xx + 115); |
| 10889 | xx[107] = xx[103] + xx[104] + (xx[106] * xx[66] + xx[115]) * xx[80]; |
| 10890 | xx[106] = xx[100] - xx[107]; |
| 10891 | xx[108] = 5.088251355846174e-12; |
| 10892 | xx[109] = xx[108] - (xx[66] * xx[110] + xx[116]) * xx[80]; |
| 10893 | xx[110] = xx[101] + xx[109]; |
| 10894 | xx[100] = 4.00000000521855e-3; |
| 10895 | xx[101] = xx[100] + xx[105] + xx[80] * (xx[117] - xx[111] * xx[66]); |
| 10896 | xx[111] = xx[102] - xx[101]; |
| 10897 | xx[112] = xx[106]; |
| 10898 | xx[113] = xx[110]; |
| 10899 | xx[114] = xx[111]; |
| 10900 | pm_math_quatXform(xx + 50, xx + 112, xx + 115); |
| 10901 | xx[102] = 3.641924106626229e-8; |
| 10902 | xx[112] = xx[72]; |
| 10903 | xx[113] = - xx[73]; |
| 10904 | xx[114] = xx[74]; |
| 10905 | pm_math_quatXform(xx + 50, xx + 112, xx + 118); |
| 10906 | xx[121] = xx[102] + xx[118]; |
| 10907 | xx[122] = xx[115] + xx[121]; |
| 10908 | xx[123] = 0.04574999999998041; |
| 10909 | xx[124] = xx[123] + xx[119]; |
| 10910 | xx[125] = xx[116] + xx[124]; |
| 10911 | xx[115] = 2.92603149291605e-7; |
| 10912 | xx[116] = xx[115] + xx[120]; |
| 10913 | xx[118] = xx[117] + xx[116]; |
| 10914 | xx[126] = xx[122]; |
| 10915 | xx[127] = xx[125]; |
| 10916 | xx[128] = xx[118]; |
| 10917 | pm_math_quatXform(xx + 35, xx + 126, xx + 129); |
| 10918 | xx[117] = 3.641162862673871e-8; |
| 10919 | xx[119] = 0.04575000000717538; |
| 10920 | xx[126] = xx[117]; |
| 10921 | xx[127] = xx[119]; |
| 10922 | xx[128] = - 2.926046524752066e-7; |
| 10923 | pm_math_quatXform(xx + 35, xx + 126, xx + 132); |
| 10924 | xx[120] = xx[130] + xx[133]; |
| 10925 | xx[130] = xx[129] + xx[132]; |
| 10926 | xx[129] = xx[120] * xx[10] - xx[130] * xx[8]; |
| 10927 | xx[131] = 3.107391981487723e-12; |
| 10928 | xx[135] = 9.83617579279345e-12; |
| 10929 | xx[136] = xx[131] * xx[8] + xx[135] * xx[10]; |
| 10930 | xx[137] = xx[80] * xx[136] * xx[10]; |
| 10931 | xx[138] = xx[80] * xx[10] * xx[129] - (xx[120] - xx[137]) - xx[135]; |
| 10932 | xx[139] = xx[3]; |
| 10933 | xx[140] = xx[7]; |
| 10934 | xx[141] = xx[15]; |
| 10935 | xx[120] = xx[80] * xx[136] * xx[8]; |
| 10936 | xx[136] = xx[130] + xx[80] * xx[8] * xx[129] + xx[120] - xx[131]; |
| 10937 | xx[129] = xx[15] * xx[136]; |
| 10938 | xx[130] = xx[15] * xx[138]; |
| 10939 | xx[142] = xx[3] * xx[136] - xx[138] * xx[7]; |
| 10940 | xx[143] = - xx[129]; |
| 10941 | xx[144] = xx[130]; |
| 10942 | xx[145] = xx[142]; |
| 10943 | pm_math_cross3(xx + 139, xx + 143, xx + 146); |
| 10944 | xx[149] = - (xx[11] - xx[9]); |
| 10945 | xx[150] = xx[4]; |
| 10946 | xx[151] = xx[6]; |
| 10947 | xx[152] = xx[16]; |
| 10948 | pm_math_quatCompose(xx + 149, xx + 35, xx + 153); |
| 10949 | pm_math_quatCompose(xx + 153, xx + 68, xx + 157); |
| 10950 | xx[4] = 7.960502648785241e-7; |
| 10951 | xx[6] = xx[4] * xx[71]; |
| 10952 | xx[9] = xx[4] * xx[69] + xx[70]; |
| 10953 | xx[143] = xx[6]; |
| 10954 | xx[144] = xx[71]; |
| 10955 | xx[145] = - xx[9]; |
| 10956 | pm_math_cross3(xx + 69, xx + 143, xx + 161); |
| 10957 | xx[11] = xx[68] * xx[71]; |
| 10958 | xx[143] = xx[22] + (xx[161] - xx[68] * xx[6]) * xx[80]; |
| 10959 | xx[144] = xx[80] * (xx[162] - xx[11]) - xx[4]; |
| 10960 | xx[145] = xx[80] * (xx[163] + xx[68] * xx[9]); |
| 10961 | pm_math_cross3(xx + 143, xx + 84, xx + 161); |
| 10962 | pm_math_quatXform(xx + 157, xx + 161, xx + 143); |
| 10963 | xx[9] = - (xx[118] * xx[4]); |
| 10964 | xx[161] = xx[9]; |
| 10965 | xx[162] = - xx[118]; |
| 10966 | xx[163] = xx[125] + xx[122] * xx[4]; |
| 10967 | pm_math_quatXform(xx + 35, xx + 161, xx + 164); |
| 10968 | xx[16] = 2.329280111075767e-13; |
| 10969 | xx[161] = 2.926046524751139e-7; |
| 10970 | xx[167] = xx[16]; |
| 10971 | xx[168] = xx[161]; |
| 10972 | xx[169] = 0.04575000000718987; |
| 10973 | pm_math_quatXform(xx + 35, xx + 167, xx + 170); |
| 10974 | xx[173] = xx[164] + xx[170]; |
| 10975 | xx[174] = xx[165] + xx[171]; |
| 10976 | xx[175] = xx[166] + xx[172]; |
| 10977 | pm_math_quatXform(xx + 149, xx + 173, xx + 162); |
| 10978 | xx[165] = xx[69] - xx[4] * xx[70]; |
| 10979 | xx[173] = - xx[71]; |
| 10980 | xx[174] = xx[6]; |
| 10981 | xx[175] = xx[165]; |
| 10982 | pm_math_cross3(xx + 69, xx + 173, xx + 176); |
| 10983 | xx[173] = xx[4] + (xx[11] + xx[176]) * xx[80]; |
| 10984 | xx[174] = xx[22] + xx[80] * (xx[177] - xx[4] * xx[11]); |
| 10985 | xx[175] = xx[80] * (xx[178] - xx[68] * xx[165]); |
| 10986 | pm_math_cross3(xx + 173, xx + 84, xx + 176); |
| 10987 | pm_math_quatXform(xx + 157, xx + 176, xx + 173); |
| 10988 | xx[176] = xx[118]; |
| 10989 | xx[177] = xx[9]; |
| 10990 | xx[178] = xx[125] * xx[4] - xx[122]; |
| 10991 | pm_math_quatXform(xx + 35, xx + 176, xx + 179); |
| 10992 | xx[176] = - xx[161]; |
| 10993 | xx[177] = xx[16]; |
| 10994 | xx[178] = 7.670997177269469e-12; |
| 10995 | pm_math_quatXform(xx + 35, xx + 176, xx + 182); |
| 10996 | xx[185] = xx[179] + xx[182]; |
| 10997 | xx[186] = xx[180] + xx[183]; |
| 10998 | xx[187] = xx[181] + xx[184]; |
| 10999 | pm_math_quatXform(xx + 149, xx + 185, xx + 179); |
| 11000 | xx[185] = xx[80] * (xx[69] * xx[71] - xx[68] * xx[70]); |
| 11001 | xx[186] = (xx[68] * xx[69] + xx[70] * xx[71]) * xx[80]; |
| 11002 | xx[187] = xx[22] - (xx[69] * xx[69] + xx[70] * xx[70]) * xx[80]; |
| 11003 | pm_math_cross3(xx + 185, xx + 84, xx + 68); |
| 11004 | pm_math_quatXform(xx + 157, xx + 68, xx + 185); |
| 11005 | xx[68] = xx[30]; |
| 11006 | xx[69] = xx[32]; |
| 11007 | xx[70] = xx[34]; |
| 11008 | xx[6] = xx[122] * xx[33]; |
| 11009 | xx[9] = xx[125] * xx[33]; |
| 11010 | xx[11] = xx[122] * xx[23] + xx[31] * xx[125]; |
| 11011 | xx[157] = xx[6]; |
| 11012 | xx[158] = xx[9]; |
| 11013 | xx[159] = - xx[11]; |
| 11014 | pm_math_cross3(xx + 68, xx + 157, xx + 188); |
| 11015 | xx[16] = xx[117] * xx[33]; |
| 11016 | xx[30] = xx[119] * xx[33]; |
| 11017 | xx[32] = xx[117] * xx[23] + xx[31] * xx[119]; |
| 11018 | xx[157] = xx[16]; |
| 11019 | xx[158] = xx[30]; |
| 11020 | xx[159] = - xx[32]; |
| 11021 | pm_math_cross3(xx + 68, xx + 157, xx + 191); |
| 11022 | xx[34] = xx[80] * (xx[191] + xx[16] * xx[27]); |
| 11023 | xx[16] = (xx[30] * xx[27] + xx[192]) * xx[80]; |
| 11024 | xx[30] = (xx[193] - xx[32] * xx[27]) * xx[80]; |
| 11025 | xx[157] = xx[80] * (xx[188] + xx[6] * xx[27]) + xx[34] - xx[125] - xx[119]; |
| 11026 | xx[158] = xx[122] + xx[80] * (xx[189] + xx[9] * xx[27]) + xx[16] + xx[117]; |
| 11027 | xx[159] = (xx[190] - xx[27] * xx[11]) * xx[80] + xx[30]; |
| 11028 | pm_math_quatXform(xx + 149, xx + 157, xx + 188); |
| 11029 | pm_math_quatCompose(xx + 153, xx + 50, xx + 157); |
| 11030 | pm_math_quatCompose(xx + 157, xx + 58, xx + 191); |
| 11031 | xx[6] = xx[60] * xx[60]; |
| 11032 | xx[9] = xx[61] * xx[61]; |
| 11033 | xx[11] = xx[60] * xx[59]; |
| 11034 | xx[32] = xx[58] * xx[61]; |
| 11035 | xx[71] = xx[60] * xx[58]; |
| 11036 | xx[118] = xx[61] * xx[59]; |
| 11037 | xx[195] = xx[22] - (xx[6] + xx[9]) * xx[80]; |
| 11038 | xx[196] = xx[80] * (xx[11] - xx[32]); |
| 11039 | xx[197] = (xx[71] + xx[118]) * xx[80]; |
| 11040 | pm_math_cross3(xx + 195, xx + 84, xx + 198); |
| 11041 | pm_math_quatXform(xx + 191, xx + 198, xx + 195); |
| 11042 | xx[198] = xx[39]; |
| 11043 | xx[199] = xx[47]; |
| 11044 | xx[200] = xx[49]; |
| 11045 | xx[47] = xx[46] * xx[110]; |
| 11046 | xx[49] = xx[48] * xx[111]; |
| 11047 | xx[122] = xx[47] + xx[49]; |
| 11048 | xx[125] = xx[110] * xx[39]; |
| 11049 | xx[161] = xx[111] * xx[39]; |
| 11050 | xx[201] = - xx[122]; |
| 11051 | xx[202] = - xx[125]; |
| 11052 | xx[203] = - xx[161]; |
| 11053 | pm_math_cross3(xx + 198, xx + 201, xx + 204); |
| 11054 | xx[165] = xx[46] * xx[73]; |
| 11055 | xx[166] = xx[48] * xx[74]; |
| 11056 | xx[201] = xx[165] - xx[166]; |
| 11057 | xx[202] = xx[73] * xx[39]; |
| 11058 | xx[203] = xx[74] * xx[39]; |
| 11059 | xx[207] = xx[201]; |
| 11060 | xx[208] = xx[202]; |
| 11061 | xx[209] = - xx[203]; |
| 11062 | pm_math_cross3(xx + 198, xx + 207, xx + 210); |
| 11063 | xx[207] = (xx[43] * xx[201] + xx[210]) * xx[80]; |
| 11064 | xx[201] = xx[80] * (xx[211] + xx[202] * xx[43]); |
| 11065 | xx[202] = (xx[212] - xx[203] * xx[43]) * xx[80]; |
| 11066 | xx[208] = xx[80] * (xx[204] - xx[122] * xx[43]) + xx[207]; |
| 11067 | xx[209] = xx[80] * (xx[205] - xx[125] * xx[43]) + xx[201] - xx[111] - xx[74]; |
| 11068 | xx[210] = xx[110] + xx[80] * (xx[206] - xx[161] * xx[43]) + xx[202] - xx[73]; |
| 11069 | pm_math_quatXform(xx + 153, xx + 208, xx + 203); |
| 11070 | xx[122] = xx[59] * xx[59]; |
| 11071 | xx[125] = xx[60] * xx[61]; |
| 11072 | xx[60] = xx[58] * xx[59]; |
| 11073 | xx[208] = (xx[32] + xx[11]) * xx[80]; |
| 11074 | xx[209] = xx[22] - (xx[9] + xx[122]) * xx[80]; |
| 11075 | xx[210] = xx[80] * (xx[125] - xx[60]); |
| 11076 | pm_math_cross3(xx + 208, xx + 84, xx + 211); |
| 11077 | pm_math_quatXform(xx + 191, xx + 211, xx + 208); |
| 11078 | xx[9] = xx[46] * xx[106]; |
| 11079 | xx[11] = xx[106] * xx[39]; |
| 11080 | xx[32] = xx[11] - xx[49]; |
| 11081 | xx[49] = xx[46] * xx[111]; |
| 11082 | xx[211] = xx[9]; |
| 11083 | xx[212] = xx[32]; |
| 11084 | xx[213] = xx[49]; |
| 11085 | pm_math_cross3(xx + 198, xx + 211, xx + 214); |
| 11086 | xx[58] = xx[46] * xx[72]; |
| 11087 | xx[59] = xx[72] * xx[39]; |
| 11088 | xx[61] = xx[166] - xx[59]; |
| 11089 | xx[161] = xx[46] * xx[74]; |
| 11090 | xx[211] = xx[58]; |
| 11091 | xx[212] = - xx[61]; |
| 11092 | xx[213] = xx[161]; |
| 11093 | pm_math_cross3(xx + 198, xx + 211, xx + 217); |
| 11094 | xx[166] = xx[80] * (xx[217] + xx[58] * xx[43]); |
| 11095 | xx[58] = xx[80] * (xx[218] - xx[61] * xx[43]); |
| 11096 | xx[61] = (xx[161] * xx[43] + xx[219]) * xx[80]; |
| 11097 | xx[211] = xx[111] + (xx[9] * xx[43] + xx[214]) * xx[80] + xx[166] + xx[74]; |
| 11098 | xx[212] = (xx[43] * xx[32] + xx[215]) * xx[80] + xx[58]; |
| 11099 | xx[213] = (xx[49] * xx[43] + xx[216]) * xx[80] + xx[61] - xx[106] - xx[72]; |
| 11100 | pm_math_quatXform(xx + 153, xx + 211, xx + 214); |
| 11101 | xx[211] = xx[80] * (xx[118] - xx[71]); |
| 11102 | xx[212] = (xx[60] + xx[125]) * xx[80]; |
| 11103 | xx[213] = xx[22] - (xx[122] + xx[6]) * xx[80]; |
| 11104 | pm_math_cross3(xx + 211, xx + 84, xx + 217); |
| 11105 | pm_math_quatXform(xx + 191, xx + 217, xx + 211); |
| 11106 | xx[6] = xx[48] * xx[106]; |
| 11107 | xx[9] = xx[48] * xx[110]; |
| 11108 | xx[32] = xx[11] - xx[47]; |
| 11109 | xx[191] = xx[6]; |
| 11110 | xx[192] = xx[9]; |
| 11111 | xx[193] = xx[32]; |
| 11112 | pm_math_cross3(xx + 198, xx + 191, xx + 217); |
| 11113 | xx[11] = xx[48] * xx[72]; |
| 11114 | xx[47] = xx[48] * xx[73]; |
| 11115 | xx[49] = xx[59] + xx[165]; |
| 11116 | xx[191] = xx[11]; |
| 11117 | xx[192] = - xx[47]; |
| 11118 | xx[193] = xx[49]; |
| 11119 | pm_math_cross3(xx + 198, xx + 191, xx + 220); |
| 11120 | xx[59] = (xx[11] * xx[43] + xx[220]) * xx[80]; |
| 11121 | xx[11] = xx[80] * (xx[221] - xx[47] * xx[43]); |
| 11122 | xx[47] = (xx[49] * xx[43] + xx[222]) * xx[80]; |
| 11123 | xx[191] = (xx[6] * xx[43] + xx[217]) * xx[80] + xx[59] - xx[110] + xx[73]; |
| 11124 | xx[192] = xx[106] + (xx[9] * xx[43] + xx[218]) * xx[80] + xx[11] + xx[72]; |
| 11125 | xx[193] = (xx[43] * xx[32] + xx[219]) * xx[80] + xx[47]; |
| 11126 | pm_math_quatXform(xx + 153, xx + 191, xx + 217); |
| 11127 | pm_math_quatCompose(xx + 157, xx + 75, xx + 191); |
| 11128 | xx[6] = xx[55] * xx[191] + xx[194] * xx[67]; |
| 11129 | xx[9] = xx[55] * xx[192] - xx[193] * xx[67]; |
| 11130 | xx[32] = xx[55] * xx[193] + xx[192] * xx[67]; |
| 11131 | xx[49] = xx[55] * xx[194] - xx[191] * xx[67]; |
| 11132 | xx[220] = xx[6]; |
| 11133 | xx[221] = xx[9]; |
| 11134 | xx[222] = xx[32]; |
| 11135 | xx[223] = xx[49]; |
| 11136 | xx[60] = xx[57] * xx[67]; |
| 11137 | xx[71] = xx[80] * xx[55] * xx[60]; |
| 11138 | xx[55] = 2.51806510486852e-12; |
| 11139 | xx[106] = 3.799560972592208e-12; |
| 11140 | xx[110] = xx[80] * xx[60] * xx[67] - xx[57]; |
| 11141 | xx[224] = xx[74] * xx[71] + xx[55]; |
| 11142 | xx[225] = xx[106] + xx[74] * xx[110]; |
| 11143 | xx[226] = xx[73] * xx[110] - xx[72] * xx[71]; |
| 11144 | pm_math_quatXform(xx + 220, xx + 224, xx + 227); |
| 11145 | xx[60] = 0.1320051346083185; |
| 11146 | xx[224] = - (xx[63] * xx[91]); |
| 11147 | xx[225] = xx[63] * xx[93] - xx[60]; |
| 11148 | xx[226] = xx[57] * xx[91]; |
| 11149 | pm_math_quatXform(xx + 75, xx + 224, xx + 230); |
| 11150 | xx[67] = 0.02540000000000025; |
| 11151 | xx[71] = xx[67] * xx[54]; |
| 11152 | xx[91] = xx[64] * xx[67]; |
| 11153 | xx[93] = xx[80] * (xx[71] * xx[66] - xx[91] * xx[65]); |
| 11154 | xx[110] = (xx[71] * xx[54] + xx[64] * xx[91]) * xx[80]; |
| 11155 | xx[111] = (xx[91] * xx[66] + xx[71] * xx[65]) * xx[80]; |
| 11156 | xx[224] = xx[230] + xx[93]; |
| 11157 | xx[225] = xx[231] + xx[110] - xx[67]; |
| 11158 | xx[226] = xx[232] - xx[111]; |
| 11159 | pm_math_quatXform(xx + 157, xx + 224, xx + 230); |
| 11160 | xx[224] = xx[9]; |
| 11161 | xx[225] = xx[32]; |
| 11162 | xx[226] = xx[49]; |
| 11163 | xx[71] = xx[72] * xx[49]; |
| 11164 | xx[91] = xx[73] * xx[49]; |
| 11165 | xx[49] = xx[72] * xx[9] - xx[32] * xx[73]; |
| 11166 | xx[233] = - xx[71]; |
| 11167 | xx[234] = xx[91]; |
| 11168 | xx[235] = xx[49]; |
| 11169 | pm_math_cross3(xx + 224, xx + 233, xx + 236); |
| 11170 | xx[9] = xx[80] * (xx[94] - xx[88]) - xx[87]; |
| 11171 | xx[32] = (xx[89] + xx[92]) * xx[80] - xx[90]; |
| 11172 | xx[88] = xx[194] * xx[32]; |
| 11173 | xx[89] = xx[9] * xx[194]; |
| 11174 | xx[92] = xx[192] * xx[32] - xx[9] * xx[193]; |
| 11175 | xx[224] = - xx[88]; |
| 11176 | xx[225] = xx[89]; |
| 11177 | xx[226] = xx[92]; |
| 11178 | pm_math_cross3(xx + 192, xx + 224, xx + 233); |
| 11179 | xx[94] = xx[2] * state[66]; |
| 11180 | xx[118] = cos(xx[94]); |
| 11181 | xx[122] = 0.5901074779979936; |
| 11182 | xx[125] = xx[2] * state[64]; |
| 11183 | xx[161] = cos(xx[125]); |
| 11184 | xx[165] = 0.5901036711621467; |
| 11185 | xx[206] = sin(xx[125]); |
| 11186 | xx[125] = xx[122] * xx[161] + xx[165] * xx[206]; |
| 11187 | xx[224] = xx[118] * xx[125]; |
| 11188 | xx[225] = xx[165] * xx[161] - xx[122] * xx[206]; |
| 11189 | xx[226] = sin(xx[94]); |
| 11190 | xx[94] = xx[225] * xx[226]; |
| 11191 | xx[239] = 0.389585375426561; |
| 11192 | xx[240] = 0.3895819001770367; |
| 11193 | xx[241] = xx[239] * xx[161] - xx[240] * xx[206]; |
| 11194 | xx[242] = xx[240] * xx[161] + xx[239] * xx[206]; |
| 11195 | xx[161] = - (xx[241] * xx[118] - xx[226] * xx[242]); |
| 11196 | xx[206] = xx[241] * xx[226] + xx[118] * xx[242]; |
| 11197 | xx[243] = xx[225] * xx[118] - xx[226] * xx[125]; |
| 11198 | xx[244] = - (xx[224] + xx[94]); |
| 11199 | xx[245] = xx[161]; |
| 11200 | xx[246] = xx[206]; |
| 11201 | xx[247] = xx[243]; |
| 11202 | xx[248] = xx[22] / sqrt(state[68] * state[68] + state[69] * state[69] + state |
| 11203 | [70] * state[70] + state[71] * state[71]); |
| 11204 | xx[249] = xx[248] * state[71]; |
| 11205 | xx[250] = xx[248] * state[68]; |
| 11206 | xx[251] = xx[21] * xx[249] - xx[25] * xx[250]; |
| 11207 | xx[252] = xx[248] * state[70]; |
| 11208 | xx[253] = xx[248] * state[69]; |
| 11209 | xx[248] = xx[21] * xx[252] + xx[25] * xx[253]; |
| 11210 | xx[254] = - xx[248]; |
| 11211 | xx[255] = xx[25] * xx[252] - xx[21] * xx[253]; |
| 11212 | xx[256] = - xx[255]; |
| 11213 | xx[257] = xx[21] * xx[250] + xx[25] * xx[249]; |
| 11214 | xx[258] = - xx[257]; |
| 11215 | xx[259] = xx[251]; |
| 11216 | xx[260] = xx[254]; |
| 11217 | xx[261] = xx[256]; |
| 11218 | xx[262] = xx[258]; |
| 11219 | pm_math_quatCompose(xx + 244, xx + 259, xx + 263); |
| 11220 | xx[244] = (xx[255] * xx[251] + xx[248] * xx[257]) * xx[80]; |
| 11221 | xx[245] = xx[80] * (xx[255] * xx[257] - xx[248] * xx[251]); |
| 11222 | xx[246] = xx[22] - (xx[248] * xx[248] + xx[255] * xx[255]) * xx[80]; |
| 11223 | xx[267] = xx[102]; |
| 11224 | xx[268] = xx[123]; |
| 11225 | xx[269] = xx[115]; |
| 11226 | pm_math_cross3(xx + 244, xx + 267, xx + 270); |
| 11227 | pm_math_quatXform(xx + 263, xx + 270, xx + 244); |
| 11228 | pm_math_quatXform(xx + 259, xx + 126, xx + 263); |
| 11229 | xx[247] = xx[264] * xx[226] - xx[118] * xx[263]; |
| 11230 | xx[266] = 6.924287580811761e-12; |
| 11231 | xx[270] = 1.024070757638107e-11; |
| 11232 | xx[271] = xx[266] * xx[226] - xx[270] * xx[118]; |
| 11233 | xx[272] = xx[80] * xx[226] * xx[247] - (xx[264] + xx[80] * xx[271] * xx[226]) |
| 11234 | + xx[266]; |
| 11235 | xx[273] = - xx[125]; |
| 11236 | xx[274] = - xx[242]; |
| 11237 | xx[275] = xx[273]; |
| 11238 | xx[276] = xx[225]; |
| 11239 | xx[277] = xx[274]; |
| 11240 | xx[278] = xx[263] + xx[80] * xx[118] * xx[247] - xx[80] * xx[271] * xx[118] - |
| 11241 | xx[270]; |
| 11242 | xx[247] = xx[278] * xx[242]; |
| 11243 | xx[271] = xx[272] * xx[242]; |
| 11244 | xx[279] = xx[278] * xx[125] + xx[225] * xx[272]; |
| 11245 | xx[280] = xx[247]; |
| 11246 | xx[281] = - xx[271]; |
| 11247 | xx[282] = - xx[279]; |
| 11248 | pm_math_cross3(xx + 275, xx + 280, xx + 283); |
| 11249 | xx[286] = - (xx[94] + xx[224]); |
| 11250 | xx[287] = xx[161]; |
| 11251 | xx[288] = xx[206]; |
| 11252 | xx[289] = xx[243]; |
| 11253 | pm_math_quatCompose(xx + 286, xx + 259, xx + 290); |
| 11254 | xx[94] = - 2.329268144978725e-13; |
| 11255 | xx[280] = xx[94]; |
| 11256 | xx[281] = - xx[115]; |
| 11257 | xx[282] = 0.0457500000000094; |
| 11258 | pm_math_quatXform(xx + 290, xx + 280, xx + 294); |
| 11259 | pm_math_quatXform(xx + 259, xx + 167, xx + 297); |
| 11260 | pm_math_quatXform(xx + 286, xx + 297, xx + 300); |
| 11261 | xx[297] = xx[115]; |
| 11262 | xx[298] = xx[94]; |
| 11263 | xx[299] = 5.855191459023036e-14; |
| 11264 | pm_math_quatXform(xx + 290, xx + 297, xx + 303); |
| 11265 | pm_math_quatXform(xx + 259, xx + 176, xx + 306); |
| 11266 | pm_math_quatXform(xx + 286, xx + 306, xx + 259); |
| 11267 | xx[94] = xx[102] * xx[293]; |
| 11268 | xx[161] = xx[102] * xx[291] + xx[123] * xx[292]; |
| 11269 | xx[306] = - xx[94]; |
| 11270 | xx[307] = - (xx[123] * xx[293]); |
| 11271 | xx[308] = xx[161]; |
| 11272 | pm_math_cross3(xx + 291, xx + 306, xx + 309); |
| 11273 | xx[306] = xx[254]; |
| 11274 | xx[307] = xx[256]; |
| 11275 | xx[308] = xx[258]; |
| 11276 | xx[206] = xx[117] * xx[257]; |
| 11277 | xx[224] = xx[119] * xx[257]; |
| 11278 | xx[243] = xx[117] * xx[248] + xx[255] * xx[119]; |
| 11279 | xx[254] = xx[206]; |
| 11280 | xx[255] = xx[224]; |
| 11281 | xx[256] = - xx[243]; |
| 11282 | pm_math_cross3(xx + 306, xx + 254, xx + 312); |
| 11283 | xx[254] = xx[80] * (xx[312] + xx[206] * xx[251]) - xx[119]; |
| 11284 | xx[255] = xx[117] + (xx[224] * xx[251] + xx[313]) * xx[80]; |
| 11285 | xx[256] = (xx[314] - xx[243] * xx[251]) * xx[80]; |
| 11286 | pm_math_quatXform(xx + 286, xx + 254, xx + 306); |
| 11287 | xx[206] = xx[2] * state[45]; |
| 11288 | xx[224] = sin(xx[206]); |
| 11289 | xx[243] = xx[62] * xx[224]; |
| 11290 | xx[248] = cos(xx[206]); |
| 11291 | xx[206] = xx[62] * xx[248]; |
| 11292 | xx[251] = xx[243] - xx[206]; |
| 11293 | xx[254] = xx[56] * xx[248]; |
| 11294 | xx[248] = xx[56] * xx[224]; |
| 11295 | xx[224] = xx[254] + xx[248]; |
| 11296 | xx[255] = - xx[224]; |
| 11297 | xx[256] = xx[248] - xx[254]; |
| 11298 | xx[248] = xx[243] + xx[206]; |
| 11299 | xx[206] = - xx[248]; |
| 11300 | xx[312] = xx[251]; |
| 11301 | xx[313] = xx[255]; |
| 11302 | xx[314] = xx[256]; |
| 11303 | xx[315] = xx[206]; |
| 11304 | pm_math_quatCompose(xx + 75, xx + 312, xx + 316); |
| 11305 | pm_math_quatCompose(xx + 50, xx + 316, xx + 320); |
| 11306 | pm_math_quatCompose(xx + 35, xx + 320, xx + 324); |
| 11307 | pm_math_quatCompose(xx + 17, xx + 324, xx + 328); |
| 11308 | xx[332] = xx[80] * (xx[325] * xx[327] - xx[324] * xx[326]); |
| 11309 | xx[333] = (xx[324] * xx[325] + xx[326] * xx[327]) * xx[80]; |
| 11310 | xx[334] = xx[22] - (xx[325] * xx[325] + xx[326] * xx[326]) * xx[80]; |
| 11311 | pm_math_cross3(xx + 332, xx + 84, xx + 324); |
| 11312 | pm_math_quatXform(xx + 328, xx + 324, xx + 332); |
| 11313 | xx[243] = 0.1412410329922704; |
| 11314 | xx[254] = 1.121202762681406e-11; |
| 11315 | xx[257] = 6.145027516349377e-13; |
| 11316 | xx[324] = - xx[254]; |
| 11317 | xx[325] = - xx[257]; |
| 11318 | xx[326] = - 3.999999999522439e-3; |
| 11319 | pm_math_quatXform(xx + 312, xx + 324, xx + 327); |
| 11320 | xx[258] = xx[243] - xx[327]; |
| 11321 | xx[262] = 0.05221615474387575; |
| 11322 | xx[327] = xx[262] - xx[329]; |
| 11323 | xx[329] = xx[258]; |
| 11324 | xx[330] = - xx[328]; |
| 11325 | xx[331] = xx[327]; |
| 11326 | pm_math_quatXform(xx + 75, xx + 329, xx + 335); |
| 11327 | xx[338] = xx[335] - xx[107]; |
| 11328 | xx[339] = xx[336] + xx[109]; |
| 11329 | xx[335] = xx[337] - xx[101]; |
| 11330 | xx[340] = xx[338]; |
| 11331 | xx[341] = xx[339]; |
| 11332 | xx[342] = xx[335]; |
| 11333 | pm_math_quatXform(xx + 50, xx + 340, xx + 343); |
| 11334 | xx[336] = xx[343] + xx[121]; |
| 11335 | xx[337] = xx[344] + xx[124]; |
| 11336 | xx[340] = xx[345] + xx[116]; |
| 11337 | xx[341] = xx[336]; |
| 11338 | xx[342] = xx[337]; |
| 11339 | xx[343] = xx[340]; |
| 11340 | pm_math_quatXform(xx + 35, xx + 341, xx + 344); |
| 11341 | xx[341] = xx[345] + xx[133]; |
| 11342 | xx[342] = xx[344] + xx[132]; |
| 11343 | xx[343] = xx[341] * xx[10] - xx[342] * xx[8]; |
| 11344 | xx[344] = xx[80] * xx[10] * xx[343] - (xx[341] - xx[137]) - xx[135]; |
| 11345 | xx[341] = xx[342] + xx[80] * xx[8] * xx[343] + xx[120] - xx[131]; |
| 11346 | xx[342] = xx[341] * xx[15]; |
| 11347 | xx[343] = xx[344] * xx[15]; |
| 11348 | xx[345] = xx[341] * xx[3] - xx[344] * xx[7]; |
| 11349 | xx[346] = - xx[342]; |
| 11350 | xx[347] = xx[343]; |
| 11351 | xx[348] = xx[345]; |
| 11352 | pm_math_cross3(xx + 139, xx + 346, xx + 349); |
| 11353 | pm_math_quatCompose(xx + 153, xx + 320, xx + 352); |
| 11354 | xx[346] = xx[4] * xx[323]; |
| 11355 | xx[347] = xx[4] * xx[321] + xx[322]; |
| 11356 | xx[356] = xx[346]; |
| 11357 | xx[357] = xx[323]; |
| 11358 | xx[358] = - xx[347]; |
| 11359 | pm_math_cross3(xx + 321, xx + 356, xx + 359); |
| 11360 | xx[348] = xx[320] * xx[323]; |
| 11361 | xx[356] = xx[22] + (xx[359] - xx[320] * xx[346]) * xx[80]; |
| 11362 | xx[357] = xx[80] * (xx[360] - xx[348]) - xx[4]; |
| 11363 | xx[358] = xx[80] * (xx[361] + xx[320] * xx[347]); |
| 11364 | pm_math_cross3(xx + 356, xx + 84, xx + 359); |
| 11365 | pm_math_quatXform(xx + 352, xx + 359, xx + 356); |
| 11366 | xx[347] = - (xx[340] * xx[4]); |
| 11367 | xx[359] = xx[347]; |
| 11368 | xx[360] = - xx[340]; |
| 11369 | xx[361] = xx[337] + xx[336] * xx[4]; |
| 11370 | pm_math_quatXform(xx + 35, xx + 359, xx + 362); |
| 11371 | xx[359] = xx[362] + xx[170]; |
| 11372 | xx[360] = xx[363] + xx[171]; |
| 11373 | xx[361] = xx[364] + xx[172]; |
| 11374 | pm_math_quatXform(xx + 149, xx + 359, xx + 362); |
| 11375 | xx[359] = xx[321] - xx[4] * xx[322]; |
| 11376 | xx[365] = - xx[323]; |
| 11377 | xx[366] = xx[346]; |
| 11378 | xx[367] = xx[359]; |
| 11379 | pm_math_cross3(xx + 321, xx + 365, xx + 368); |
| 11380 | xx[365] = xx[4] + (xx[348] + xx[368]) * xx[80]; |
| 11381 | xx[366] = xx[22] + xx[80] * (xx[369] - xx[4] * xx[348]); |
| 11382 | xx[367] = xx[80] * (xx[370] - xx[320] * xx[359]); |
| 11383 | pm_math_cross3(xx + 365, xx + 84, xx + 359); |
| 11384 | pm_math_quatXform(xx + 352, xx + 359, xx + 365); |
| 11385 | xx[359] = xx[340]; |
| 11386 | xx[360] = xx[347]; |
| 11387 | xx[361] = xx[337] * xx[4] - xx[336]; |
| 11388 | pm_math_quatXform(xx + 35, xx + 359, xx + 346); |
| 11389 | xx[359] = xx[346] + xx[182]; |
| 11390 | xx[360] = xx[347] + xx[183]; |
| 11391 | xx[361] = xx[348] + xx[184]; |
| 11392 | pm_math_quatXform(xx + 149, xx + 359, xx + 346); |
| 11393 | xx[359] = xx[80] * (xx[321] * xx[323] - xx[320] * xx[322]); |
| 11394 | xx[360] = (xx[320] * xx[321] + xx[322] * xx[323]) * xx[80]; |
| 11395 | xx[361] = xx[22] - (xx[321] * xx[321] + xx[322] * xx[322]) * xx[80]; |
| 11396 | pm_math_cross3(xx + 359, xx + 84, xx + 320); |
| 11397 | pm_math_quatXform(xx + 352, xx + 320, xx + 359); |
| 11398 | xx[320] = xx[336] * xx[33]; |
| 11399 | xx[321] = xx[337] * xx[33]; |
| 11400 | xx[322] = xx[336] * xx[23] + xx[337] * xx[31]; |
| 11401 | xx[352] = xx[320]; |
| 11402 | xx[353] = xx[321]; |
| 11403 | xx[354] = - xx[322]; |
| 11404 | pm_math_cross3(xx + 68, xx + 352, xx + 368); |
| 11405 | xx[352] = xx[80] * (xx[368] + xx[320] * xx[27]) + xx[34] - xx[337] - xx[119]; |
| 11406 | xx[353] = xx[336] + xx[80] * (xx[369] + xx[321] * xx[27]) + xx[16] + xx[117]; |
| 11407 | xx[354] = (xx[370] - xx[322] * xx[27]) * xx[80] + xx[30]; |
| 11408 | pm_math_quatXform(xx + 149, xx + 352, xx + 320); |
| 11409 | pm_math_quatCompose(xx + 157, xx + 316, xx + 352); |
| 11410 | xx[323] = xx[318] * xx[318]; |
| 11411 | xx[336] = xx[319] * xx[319]; |
| 11412 | xx[337] = xx[317] * xx[318]; |
| 11413 | xx[340] = xx[316] * xx[319]; |
| 11414 | xx[368] = xx[316] * xx[318]; |
| 11415 | xx[369] = xx[317] * xx[319]; |
| 11416 | xx[370] = xx[22] - (xx[323] + xx[336]) * xx[80]; |
| 11417 | xx[371] = xx[80] * (xx[337] - xx[340]); |
| 11418 | xx[372] = (xx[368] + xx[369]) * xx[80]; |
| 11419 | pm_math_cross3(xx + 370, xx + 84, xx + 373); |
| 11420 | pm_math_quatXform(xx + 352, xx + 373, xx + 370); |
| 11421 | xx[373] = xx[339] * xx[46]; |
| 11422 | xx[374] = xx[335] * xx[48]; |
| 11423 | xx[375] = xx[373] + xx[374]; |
| 11424 | xx[376] = xx[339] * xx[39]; |
| 11425 | xx[377] = xx[335] * xx[39]; |
| 11426 | xx[378] = - xx[375]; |
| 11427 | xx[379] = - xx[376]; |
| 11428 | xx[380] = - xx[377]; |
| 11429 | pm_math_cross3(xx + 198, xx + 378, xx + 381); |
| 11430 | xx[378] = xx[80] * (xx[381] - xx[375] * xx[43]) + xx[207]; |
| 11431 | xx[379] = xx[80] * (xx[382] - xx[376] * xx[43]) + xx[201] - xx[335] - xx[74]; |
| 11432 | xx[380] = xx[339] + xx[80] * (xx[383] - xx[377] * xx[43]) + xx[202] - xx[73]; |
| 11433 | pm_math_quatXform(xx + 153, xx + 378, xx + 375); |
| 11434 | xx[378] = xx[317] * xx[317]; |
| 11435 | xx[379] = xx[318] * xx[319]; |
| 11436 | xx[318] = xx[316] * xx[317]; |
| 11437 | xx[380] = (xx[340] + xx[337]) * xx[80]; |
| 11438 | xx[381] = xx[22] - (xx[336] + xx[378]) * xx[80]; |
| 11439 | xx[382] = xx[80] * (xx[379] - xx[318]); |
| 11440 | pm_math_cross3(xx + 380, xx + 84, xx + 383); |
| 11441 | pm_math_quatXform(xx + 352, xx + 383, xx + 380); |
| 11442 | xx[316] = xx[338] * xx[46]; |
| 11443 | xx[317] = xx[338] * xx[39]; |
| 11444 | xx[319] = xx[317] - xx[374]; |
| 11445 | xx[336] = xx[335] * xx[46]; |
| 11446 | xx[383] = xx[316]; |
| 11447 | xx[384] = xx[319]; |
| 11448 | xx[385] = xx[336]; |
| 11449 | pm_math_cross3(xx + 198, xx + 383, xx + 386); |
| 11450 | xx[383] = xx[335] + (xx[316] * xx[43] + xx[386]) * xx[80] + xx[166] + xx[74]; |
| 11451 | xx[384] = (xx[319] * xx[43] + xx[387]) * xx[80] + xx[58]; |
| 11452 | xx[385] = (xx[336] * xx[43] + xx[388]) * xx[80] + xx[61] - xx[338] - xx[72]; |
| 11453 | pm_math_quatXform(xx + 153, xx + 383, xx + 335); |
| 11454 | xx[383] = xx[80] * (xx[369] - xx[368]); |
| 11455 | xx[384] = (xx[318] + xx[379]) * xx[80]; |
| 11456 | xx[385] = xx[22] - (xx[378] + xx[323]) * xx[80]; |
| 11457 | pm_math_cross3(xx + 383, xx + 84, xx + 386); |
| 11458 | pm_math_quatXform(xx + 352, xx + 386, xx + 383); |
| 11459 | xx[316] = xx[338] * xx[48]; |
| 11460 | xx[318] = xx[339] * xx[48]; |
| 11461 | xx[319] = xx[317] - xx[373]; |
| 11462 | xx[352] = xx[316]; |
| 11463 | xx[353] = xx[318]; |
| 11464 | xx[354] = xx[319]; |
| 11465 | pm_math_cross3(xx + 198, xx + 352, xx + 386); |
| 11466 | xx[352] = (xx[316] * xx[43] + xx[386]) * xx[80] + xx[59] - xx[339] + xx[73]; |
| 11467 | xx[353] = xx[338] + (xx[318] * xx[43] + xx[387]) * xx[80] + xx[11] + xx[72]; |
| 11468 | xx[354] = (xx[319] * xx[43] + xx[388]) * xx[80] + xx[47]; |
| 11469 | pm_math_quatXform(xx + 153, xx + 352, xx + 316); |
| 11470 | pm_math_quatCompose(xx + 191, xx + 312, xx + 352); |
| 11471 | xx[312] = xx[255]; |
| 11472 | xx[313] = xx[256]; |
| 11473 | xx[314] = xx[206]; |
| 11474 | xx[206] = xx[63] * xx[256]; |
| 11475 | xx[255] = xx[248] * xx[57] - xx[224] * xx[63]; |
| 11476 | xx[315] = xx[57] * xx[256]; |
| 11477 | xx[338] = - xx[206]; |
| 11478 | xx[339] = xx[255]; |
| 11479 | xx[340] = xx[315]; |
| 11480 | pm_math_cross3(xx + 312, xx + 338, xx + 386); |
| 11481 | xx[338] = xx[80] * (xx[386] + xx[206] * xx[251]) - xx[57]; |
| 11482 | xx[339] = xx[80] * (xx[387] - xx[251] * xx[255]); |
| 11483 | xx[340] = (xx[388] - xx[315] * xx[251]) * xx[80] - xx[63]; |
| 11484 | pm_math_cross3(xx + 338, xx + 84, xx + 386); |
| 11485 | pm_math_quatXform(xx + 352, xx + 386, xx + 338); |
| 11486 | xx[386] = - (xx[63] * xx[328]); |
| 11487 | xx[387] = xx[57] * xx[327] - xx[63] * xx[258]; |
| 11488 | xx[388] = xx[57] * xx[328]; |
| 11489 | pm_math_quatXform(xx + 75, xx + 386, xx + 389); |
| 11490 | xx[386] = xx[389] + xx[93]; |
| 11491 | xx[387] = xx[390] + xx[110] - xx[67]; |
| 11492 | xx[388] = xx[391] - xx[111]; |
| 11493 | pm_math_quatXform(xx + 157, xx + 386, xx + 389); |
| 11494 | xx[206] = xx[72] * xx[355]; |
| 11495 | xx[255] = xx[73] * xx[354] - xx[72] * xx[353]; |
| 11496 | xx[386] = xx[206]; |
| 11497 | xx[387] = - (xx[73] * xx[355]); |
| 11498 | xx[388] = xx[255]; |
| 11499 | pm_math_cross3(xx + 353, xx + 386, xx + 392); |
| 11500 | xx[258] = xx[248] * xx[254]; |
| 11501 | xx[315] = xx[248] * xx[257]; |
| 11502 | xx[248] = xx[257] * xx[256] - xx[224] * xx[254]; |
| 11503 | xx[386] = xx[258]; |
| 11504 | xx[387] = xx[315]; |
| 11505 | xx[388] = xx[248]; |
| 11506 | pm_math_cross3(xx + 312, xx + 386, xx + 395); |
| 11507 | xx[312] = xx[80] * (xx[395] + xx[258] * xx[251]) - xx[257]; |
| 11508 | xx[313] = xx[254] + (xx[315] * xx[251] + xx[396]) * xx[80]; |
| 11509 | xx[314] = (xx[251] * xx[248] + xx[397]) * xx[80]; |
| 11510 | pm_math_quatXform(xx + 191, xx + 312, xx + 386); |
| 11511 | xx[224] = xx[2] * state[53]; |
| 11512 | xx[248] = sin(xx[224]); |
| 11513 | xx[251] = cos(xx[224]); |
| 11514 | xx[224] = xx[1] * xx[248] - xx[5] * xx[251]; |
| 11515 | xx[256] = xx[2] * state[55]; |
| 11516 | xx[258] = cos(xx[256]); |
| 11517 | xx[312] = xx[224] * xx[258]; |
| 11518 | xx[313] = sin(xx[256]); |
| 11519 | xx[256] = xx[1] * xx[251] + xx[5] * xx[248]; |
| 11520 | xx[314] = xx[313] * xx[256]; |
| 11521 | xx[315] = xx[12] * xx[251] + xx[13] * xx[248]; |
| 11522 | xx[319] = xx[12] * xx[248] - xx[13] * xx[251]; |
| 11523 | xx[248] = - (xx[258] * xx[315] + xx[319] * xx[313]); |
| 11524 | xx[251] = xx[313] * xx[315] - xx[319] * xx[258]; |
| 11525 | xx[323] = xx[224] * xx[313] + xx[258] * xx[256]; |
| 11526 | xx[395] = xx[312] - xx[314]; |
| 11527 | xx[396] = xx[248]; |
| 11528 | xx[397] = xx[251]; |
| 11529 | xx[398] = xx[323]; |
| 11530 | xx[327] = xx[22] / sqrt(state[57] * state[57] + state[58] * state[58] + state |
| 11531 | [59] * state[59] + state[60] * state[60]); |
| 11532 | xx[328] = xx[327] * state[60]; |
| 11533 | xx[368] = xx[327] * state[57]; |
| 11534 | xx[369] = xx[21] * xx[328] - xx[25] * xx[368]; |
| 11535 | xx[373] = xx[327] * state[59]; |
| 11536 | xx[374] = xx[327] * state[58]; |
| 11537 | xx[327] = xx[21] * xx[373] + xx[25] * xx[374]; |
| 11538 | xx[378] = - xx[327]; |
| 11539 | xx[379] = xx[25] * xx[373] - xx[21] * xx[374]; |
| 11540 | xx[399] = - xx[379]; |
| 11541 | xx[400] = xx[21] * xx[368] + xx[25] * xx[328]; |
| 11542 | xx[401] = - xx[400]; |
| 11543 | xx[402] = xx[369]; |
| 11544 | xx[403] = xx[378]; |
| 11545 | xx[404] = xx[399]; |
| 11546 | xx[405] = xx[401]; |
| 11547 | pm_math_quatCompose(xx + 395, xx + 402, xx + 406); |
| 11548 | xx[395] = (xx[379] * xx[369] + xx[400] * xx[327]) * xx[80]; |
| 11549 | xx[396] = xx[80] * (xx[379] * xx[400] - xx[369] * xx[327]); |
| 11550 | xx[397] = xx[22] - (xx[327] * xx[327] + xx[379] * xx[379]) * xx[80]; |
| 11551 | pm_math_cross3(xx + 395, xx + 267, xx + 410); |
| 11552 | pm_math_quatXform(xx + 406, xx + 410, xx + 395); |
| 11553 | pm_math_quatXform(xx + 402, xx + 126, xx + 406); |
| 11554 | xx[398] = xx[407] * xx[313] - xx[258] * xx[406]; |
| 11555 | xx[409] = 9.27756931389703e-12; |
| 11556 | xx[410] = 5.443558296964576e-12; |
| 11557 | xx[411] = xx[409] * xx[258] + xx[410] * xx[313]; |
| 11558 | xx[412] = xx[80] * xx[313] * xx[398] - (xx[407] + xx[80] * xx[411] * xx[313]) |
| 11559 | + xx[410]; |
| 11560 | xx[413] = xx[224]; |
| 11561 | xx[414] = xx[256]; |
| 11562 | xx[415] = xx[319]; |
| 11563 | xx[416] = xx[406] + xx[80] * xx[258] * xx[398] - xx[80] * xx[411] * xx[258] + |
| 11564 | xx[409]; |
| 11565 | xx[398] = xx[319] * xx[416]; |
| 11566 | xx[411] = xx[319] * xx[412]; |
| 11567 | xx[417] = xx[224] * xx[416] - xx[412] * xx[256]; |
| 11568 | xx[418] = - xx[398]; |
| 11569 | xx[419] = xx[411]; |
| 11570 | xx[420] = xx[417]; |
| 11571 | pm_math_cross3(xx + 413, xx + 418, xx + 421); |
| 11572 | xx[424] = - (xx[314] - xx[312]); |
| 11573 | xx[425] = xx[248]; |
| 11574 | xx[426] = xx[251]; |
| 11575 | xx[427] = xx[323]; |
| 11576 | pm_math_quatCompose(xx + 424, xx + 402, xx + 428); |
| 11577 | pm_math_quatXform(xx + 428, xx + 280, xx + 418); |
| 11578 | pm_math_quatXform(xx + 402, xx + 167, xx + 432); |
| 11579 | pm_math_quatXform(xx + 424, xx + 432, xx + 435); |
| 11580 | pm_math_quatXform(xx + 428, xx + 297, xx + 432); |
| 11581 | pm_math_quatXform(xx + 402, xx + 176, xx + 438); |
| 11582 | pm_math_quatXform(xx + 424, xx + 438, xx + 402); |
| 11583 | xx[248] = xx[102] * xx[431]; |
| 11584 | xx[251] = xx[102] * xx[429] + xx[123] * xx[430]; |
| 11585 | xx[438] = - xx[248]; |
| 11586 | xx[439] = - (xx[123] * xx[431]); |
| 11587 | xx[440] = xx[251]; |
| 11588 | pm_math_cross3(xx + 429, xx + 438, xx + 441); |
| 11589 | xx[438] = xx[378]; |
| 11590 | xx[439] = xx[399]; |
| 11591 | xx[440] = xx[401]; |
| 11592 | xx[312] = xx[117] * xx[400]; |
| 11593 | xx[314] = xx[119] * xx[400]; |
| 11594 | xx[323] = xx[117] * xx[327] + xx[379] * xx[119]; |
| 11595 | xx[399] = xx[312]; |
| 11596 | xx[400] = xx[314]; |
| 11597 | xx[401] = - xx[323]; |
| 11598 | pm_math_cross3(xx + 438, xx + 399, xx + 444); |
| 11599 | xx[399] = xx[80] * (xx[444] + xx[312] * xx[369]) - xx[119]; |
| 11600 | xx[400] = xx[117] + (xx[314] * xx[369] + xx[445]) * xx[80]; |
| 11601 | xx[401] = (xx[446] - xx[323] * xx[369]) * xx[80]; |
| 11602 | pm_math_quatXform(xx + 424, xx + 399, xx + 438); |
| 11603 | xx[312] = 0.3535533905932758; |
| 11604 | xx[314] = xx[2] * state[47]; |
| 11605 | xx[323] = cos(xx[314]); |
| 11606 | xx[327] = xx[312] * xx[323]; |
| 11607 | xx[369] = sin(xx[314]); |
| 11608 | xx[314] = xx[312] * xx[369]; |
| 11609 | xx[378] = xx[327] + xx[314]; |
| 11610 | xx[379] = 0.6123724356957934; |
| 11611 | xx[399] = xx[379] * xx[369]; |
| 11612 | xx[369] = xx[379] * xx[323]; |
| 11613 | xx[323] = xx[399] - xx[369]; |
| 11614 | xx[400] = xx[369] + xx[399]; |
| 11615 | xx[369] = - xx[400]; |
| 11616 | xx[399] = xx[314] - xx[327]; |
| 11617 | xx[444] = - xx[378]; |
| 11618 | xx[445] = xx[323]; |
| 11619 | xx[446] = xx[369]; |
| 11620 | xx[447] = xx[399]; |
| 11621 | pm_math_quatCompose(xx + 75, xx + 444, xx + 448); |
| 11622 | pm_math_quatCompose(xx + 50, xx + 448, xx + 452); |
| 11623 | pm_math_quatCompose(xx + 35, xx + 452, xx + 456); |
| 11624 | pm_math_quatCompose(xx + 17, xx + 456, xx + 460); |
| 11625 | xx[464] = xx[80] * (xx[457] * xx[459] - xx[456] * xx[458]); |
| 11626 | xx[465] = (xx[456] * xx[457] + xx[458] * xx[459]) * xx[80]; |
| 11627 | xx[466] = xx[22] - (xx[457] * xx[457] + xx[458] * xx[458]) * xx[80]; |
| 11628 | pm_math_cross3(xx + 464, xx + 84, xx + 456); |
| 11629 | pm_math_quatXform(xx + 460, xx + 456, xx + 464); |
| 11630 | xx[314] = 0.1412410329922711; |
| 11631 | xx[327] = 3.881762117297072e-12; |
| 11632 | xx[401] = 3.80025733104361e-12; |
| 11633 | xx[456] = xx[327]; |
| 11634 | xx[457] = - xx[401]; |
| 11635 | xx[458] = 3.999999998874377e-3; |
| 11636 | pm_math_quatXform(xx + 444, xx + 456, xx + 459); |
| 11637 | xx[405] = xx[314] + xx[459]; |
| 11638 | xx[462] = 0.05221615474387407; |
| 11639 | xx[459] = xx[462] - xx[461]; |
| 11640 | xx[467] = - xx[405]; |
| 11641 | xx[468] = - xx[460]; |
| 11642 | xx[469] = xx[459]; |
| 11643 | pm_math_quatXform(xx + 75, xx + 467, xx + 470); |
| 11644 | xx[461] = xx[470] - xx[107]; |
| 11645 | xx[463] = xx[471] + xx[109]; |
| 11646 | xx[470] = xx[472] - xx[101]; |
| 11647 | xx[471] = xx[461]; |
| 11648 | xx[472] = xx[463]; |
| 11649 | xx[473] = xx[470]; |
| 11650 | pm_math_quatXform(xx + 50, xx + 471, xx + 474); |
| 11651 | xx[471] = xx[474] + xx[121]; |
| 11652 | xx[472] = xx[475] + xx[124]; |
| 11653 | xx[473] = xx[476] + xx[116]; |
| 11654 | pm_math_quatXform(xx + 35, xx + 471, xx + 474); |
| 11655 | xx[477] = xx[475] + xx[133]; |
| 11656 | xx[475] = xx[474] + xx[132]; |
| 11657 | xx[474] = xx[477] * xx[10] - xx[475] * xx[8]; |
| 11658 | xx[476] = xx[80] * xx[10] * xx[474] - (xx[477] - xx[137]) - xx[135]; |
| 11659 | xx[477] = xx[475] + xx[80] * xx[8] * xx[474] + xx[120] - xx[131]; |
| 11660 | xx[474] = xx[15] * xx[477]; |
| 11661 | xx[475] = xx[15] * xx[476]; |
| 11662 | xx[478] = xx[3] * xx[477] - xx[476] * xx[7]; |
| 11663 | xx[479] = - xx[474]; |
| 11664 | xx[480] = xx[475]; |
| 11665 | xx[481] = xx[478]; |
| 11666 | pm_math_cross3(xx + 139, xx + 479, xx + 482); |
| 11667 | pm_math_quatCompose(xx + 153, xx + 452, xx + 485); |
| 11668 | xx[479] = xx[4] * xx[455]; |
| 11669 | xx[480] = xx[4] * xx[453] + xx[454]; |
| 11670 | xx[489] = xx[479]; |
| 11671 | xx[490] = xx[455]; |
| 11672 | xx[491] = - xx[480]; |
| 11673 | pm_math_cross3(xx + 453, xx + 489, xx + 492); |
| 11674 | xx[481] = xx[452] * xx[455]; |
| 11675 | xx[489] = xx[22] + (xx[492] - xx[452] * xx[479]) * xx[80]; |
| 11676 | xx[490] = xx[80] * (xx[493] - xx[481]) - xx[4]; |
| 11677 | xx[491] = xx[80] * (xx[494] + xx[452] * xx[480]); |
| 11678 | pm_math_cross3(xx + 489, xx + 84, xx + 492); |
| 11679 | pm_math_quatXform(xx + 485, xx + 492, xx + 489); |
| 11680 | xx[480] = - (xx[473] * xx[4]); |
| 11681 | xx[492] = xx[480]; |
| 11682 | xx[493] = - xx[473]; |
| 11683 | xx[494] = xx[472] + xx[471] * xx[4]; |
| 11684 | pm_math_quatXform(xx + 35, xx + 492, xx + 495); |
| 11685 | xx[492] = xx[495] + xx[170]; |
| 11686 | xx[493] = xx[496] + xx[171]; |
| 11687 | xx[494] = xx[497] + xx[172]; |
| 11688 | pm_math_quatXform(xx + 149, xx + 492, xx + 495); |
| 11689 | xx[492] = xx[453] - xx[4] * xx[454]; |
| 11690 | xx[498] = - xx[455]; |
| 11691 | xx[499] = xx[479]; |
| 11692 | xx[500] = xx[492]; |
| 11693 | pm_math_cross3(xx + 453, xx + 498, xx + 501); |
| 11694 | xx[498] = xx[4] + (xx[481] + xx[501]) * xx[80]; |
| 11695 | xx[499] = xx[22] + xx[80] * (xx[502] - xx[4] * xx[481]); |
| 11696 | xx[500] = xx[80] * (xx[503] - xx[452] * xx[492]); |
| 11697 | pm_math_cross3(xx + 498, xx + 84, xx + 492); |
| 11698 | pm_math_quatXform(xx + 485, xx + 492, xx + 498); |
| 11699 | xx[492] = xx[473]; |
| 11700 | xx[493] = xx[480]; |
| 11701 | xx[494] = xx[472] * xx[4] - xx[471]; |
| 11702 | pm_math_quatXform(xx + 35, xx + 492, xx + 479); |
| 11703 | xx[492] = xx[479] + xx[182]; |
| 11704 | xx[493] = xx[480] + xx[183]; |
| 11705 | xx[494] = xx[481] + xx[184]; |
| 11706 | pm_math_quatXform(xx + 149, xx + 492, xx + 479); |
| 11707 | xx[492] = xx[80] * (xx[453] * xx[455] - xx[452] * xx[454]); |
| 11708 | xx[493] = (xx[452] * xx[453] + xx[454] * xx[455]) * xx[80]; |
| 11709 | xx[494] = xx[22] - (xx[453] * xx[453] + xx[454] * xx[454]) * xx[80]; |
| 11710 | pm_math_cross3(xx + 492, xx + 84, xx + 452); |
| 11711 | pm_math_quatXform(xx + 485, xx + 452, xx + 492); |
| 11712 | xx[452] = xx[471] * xx[33]; |
| 11713 | xx[453] = xx[472] * xx[33]; |
| 11714 | xx[454] = xx[471] * xx[23] + xx[31] * xx[472]; |
| 11715 | xx[485] = xx[452]; |
| 11716 | xx[486] = xx[453]; |
| 11717 | xx[487] = - xx[454]; |
| 11718 | pm_math_cross3(xx + 68, xx + 485, xx + 501); |
| 11719 | xx[485] = xx[80] * (xx[501] + xx[452] * xx[27]) + xx[34] - xx[472] - xx[119]; |
| 11720 | xx[486] = xx[471] + xx[80] * (xx[502] + xx[453] * xx[27]) + xx[16] + xx[117]; |
| 11721 | xx[487] = (xx[503] - xx[27] * xx[454]) * xx[80] + xx[30]; |
| 11722 | pm_math_quatXform(xx + 149, xx + 485, xx + 452); |
| 11723 | pm_math_quatCompose(xx + 157, xx + 448, xx + 485); |
| 11724 | xx[455] = xx[450] * xx[450]; |
| 11725 | xx[471] = xx[451] * xx[451]; |
| 11726 | xx[472] = xx[449] * xx[450]; |
| 11727 | xx[473] = xx[448] * xx[451]; |
| 11728 | xx[501] = xx[448] * xx[450]; |
| 11729 | xx[502] = xx[449] * xx[451]; |
| 11730 | xx[503] = xx[22] - (xx[455] + xx[471]) * xx[80]; |
| 11731 | xx[504] = xx[80] * (xx[472] - xx[473]); |
| 11732 | xx[505] = (xx[501] + xx[502]) * xx[80]; |
| 11733 | pm_math_cross3(xx + 503, xx + 84, xx + 506); |
| 11734 | pm_math_quatXform(xx + 485, xx + 506, xx + 503); |
| 11735 | xx[506] = xx[46] * xx[463]; |
| 11736 | xx[507] = xx[48] * xx[470]; |
| 11737 | xx[508] = xx[506] + xx[507]; |
| 11738 | xx[509] = xx[463] * xx[39]; |
| 11739 | xx[510] = xx[470] * xx[39]; |
| 11740 | xx[511] = - xx[508]; |
| 11741 | xx[512] = - xx[509]; |
| 11742 | xx[513] = - xx[510]; |
| 11743 | pm_math_cross3(xx + 198, xx + 511, xx + 514); |
| 11744 | xx[511] = xx[80] * (xx[514] - xx[508] * xx[43]) + xx[207]; |
| 11745 | xx[512] = xx[80] * (xx[515] - xx[509] * xx[43]) + xx[201] - xx[470] - xx[74]; |
| 11746 | xx[513] = xx[463] + xx[80] * (xx[516] - xx[510] * xx[43]) + xx[202] - xx[73]; |
| 11747 | pm_math_quatXform(xx + 153, xx + 511, xx + 508); |
| 11748 | xx[511] = xx[449] * xx[449]; |
| 11749 | xx[512] = xx[450] * xx[451]; |
| 11750 | xx[450] = xx[448] * xx[449]; |
| 11751 | xx[513] = (xx[473] + xx[472]) * xx[80]; |
| 11752 | xx[514] = xx[22] - (xx[471] + xx[511]) * xx[80]; |
| 11753 | xx[515] = xx[80] * (xx[512] - xx[450]); |
| 11754 | pm_math_cross3(xx + 513, xx + 84, xx + 471); |
| 11755 | pm_math_quatXform(xx + 485, xx + 471, xx + 513); |
| 11756 | xx[448] = xx[46] * xx[461]; |
| 11757 | xx[449] = xx[461] * xx[39]; |
| 11758 | xx[451] = xx[449] - xx[507]; |
| 11759 | xx[471] = xx[46] * xx[470]; |
| 11760 | xx[516] = xx[448]; |
| 11761 | xx[517] = xx[451]; |
| 11762 | xx[518] = xx[471]; |
| 11763 | pm_math_cross3(xx + 198, xx + 516, xx + 519); |
| 11764 | xx[516] = xx[470] + (xx[448] * xx[43] + xx[519]) * xx[80] + xx[166] + xx[74]; |
| 11765 | xx[517] = (xx[43] * xx[451] + xx[520]) * xx[80] + xx[58]; |
| 11766 | xx[518] = (xx[471] * xx[43] + xx[521]) * xx[80] + xx[61] - xx[461] - xx[72]; |
| 11767 | pm_math_quatXform(xx + 153, xx + 516, xx + 470); |
| 11768 | xx[516] = xx[80] * (xx[502] - xx[501]); |
| 11769 | xx[517] = (xx[450] + xx[512]) * xx[80]; |
| 11770 | xx[518] = xx[22] - (xx[511] + xx[455]) * xx[80]; |
| 11771 | pm_math_cross3(xx + 516, xx + 84, xx + 519); |
| 11772 | pm_math_quatXform(xx + 485, xx + 519, xx + 516); |
| 11773 | xx[448] = xx[48] * xx[461]; |
| 11774 | xx[450] = xx[48] * xx[463]; |
| 11775 | xx[451] = xx[449] - xx[506]; |
| 11776 | xx[485] = xx[448]; |
| 11777 | xx[486] = xx[450]; |
| 11778 | xx[487] = xx[451]; |
| 11779 | pm_math_cross3(xx + 198, xx + 485, xx + 519); |
| 11780 | xx[485] = (xx[448] * xx[43] + xx[519]) * xx[80] + xx[59] - xx[463] + xx[73]; |
| 11781 | xx[486] = xx[461] + (xx[450] * xx[43] + xx[520]) * xx[80] + xx[11] + xx[72]; |
| 11782 | xx[487] = (xx[43] * xx[451] + xx[521]) * xx[80] + xx[47]; |
| 11783 | pm_math_quatXform(xx + 153, xx + 485, xx + 448); |
| 11784 | pm_math_quatCompose(xx + 191, xx + 444, xx + 485); |
| 11785 | xx[444] = xx[323]; |
| 11786 | xx[445] = xx[369]; |
| 11787 | xx[446] = xx[399]; |
| 11788 | xx[369] = xx[400] * xx[63]; |
| 11789 | xx[447] = xx[63] * xx[323] - xx[57] * xx[399]; |
| 11790 | xx[451] = xx[400] * xx[57]; |
| 11791 | xx[519] = xx[369]; |
| 11792 | xx[520] = xx[447]; |
| 11793 | xx[521] = - xx[451]; |
| 11794 | pm_math_cross3(xx + 444, xx + 519, xx + 522); |
| 11795 | xx[519] = xx[80] * (xx[522] + xx[378] * xx[369]) - xx[57]; |
| 11796 | xx[520] = xx[80] * (xx[523] + xx[378] * xx[447]); |
| 11797 | xx[521] = (xx[524] - xx[378] * xx[451]) * xx[80] - xx[63]; |
| 11798 | pm_math_cross3(xx + 519, xx + 84, xx + 522); |
| 11799 | pm_math_quatXform(xx + 485, xx + 522, xx + 519); |
| 11800 | xx[522] = - (xx[63] * xx[460]); |
| 11801 | xx[523] = xx[63] * xx[405] + xx[57] * xx[459]; |
| 11802 | xx[524] = xx[57] * xx[460]; |
| 11803 | pm_math_quatXform(xx + 75, xx + 522, xx + 459); |
| 11804 | xx[522] = xx[459] + xx[93]; |
| 11805 | xx[523] = xx[460] + xx[110] - xx[67]; |
| 11806 | xx[524] = xx[461] - xx[111]; |
| 11807 | pm_math_quatXform(xx + 157, xx + 522, xx + 459); |
| 11808 | xx[369] = xx[72] * xx[488]; |
| 11809 | xx[405] = xx[72] * xx[486] - xx[73] * xx[487]; |
| 11810 | xx[522] = - xx[369]; |
| 11811 | xx[523] = xx[73] * xx[488]; |
| 11812 | xx[524] = xx[405]; |
| 11813 | pm_math_cross3(xx + 486, xx + 522, xx + 525); |
| 11814 | xx[447] = xx[327] * xx[399]; |
| 11815 | xx[451] = xx[401] * xx[399]; |
| 11816 | xx[399] = xx[327] * xx[323] + xx[400] * xx[401]; |
| 11817 | xx[522] = - xx[447]; |
| 11818 | xx[523] = xx[451]; |
| 11819 | xx[524] = xx[399]; |
| 11820 | pm_math_cross3(xx + 444, xx + 522, xx + 528); |
| 11821 | xx[444] = xx[401] + xx[80] * (xx[528] + xx[378] * xx[447]); |
| 11822 | xx[445] = xx[327] + (xx[529] - xx[378] * xx[451]) * xx[80]; |
| 11823 | xx[446] = (xx[530] - xx[378] * xx[399]) * xx[80]; |
| 11824 | pm_math_quatXform(xx + 191, xx + 444, xx + 522); |
| 11825 | xx[323] = xx[2] * state[77]; |
| 11826 | xx[378] = cos(xx[323]); |
| 11827 | xx[399] = 0.6324445710612965; |
| 11828 | xx[400] = xx[2] * state[75]; |
| 11829 | xx[444] = cos(xx[400]); |
| 11830 | xx[445] = 0.6324396579890005; |
| 11831 | xx[446] = sin(xx[400]); |
| 11832 | xx[400] = xx[399] * xx[444] + xx[445] * xx[446]; |
| 11833 | xx[447] = xx[378] * xx[400]; |
| 11834 | xx[451] = xx[399] * xx[446] - xx[445] * xx[444]; |
| 11835 | xx[455] = sin(xx[323]); |
| 11836 | xx[323] = xx[451] * xx[455]; |
| 11837 | xx[463] = 0.3162553791961485; |
| 11838 | xx[473] = 0.3162538200043588; |
| 11839 | xx[501] = xx[463] * xx[444] - xx[473] * xx[446]; |
| 11840 | xx[502] = xx[473] * xx[444] + xx[463] * xx[446]; |
| 11841 | xx[444] = - (xx[501] * xx[378] - xx[455] * xx[502]); |
| 11842 | xx[446] = xx[501] * xx[455] + xx[378] * xx[502]; |
| 11843 | xx[506] = xx[455] * xx[400] + xx[451] * xx[378]; |
| 11844 | xx[528] = xx[447] - xx[323]; |
| 11845 | xx[529] = xx[444]; |
| 11846 | xx[530] = xx[446]; |
| 11847 | xx[531] = xx[506]; |
| 11848 | xx[507] = xx[22] / sqrt(state[79] * state[79] + state[80] * state[80] + state |
| 11849 | [81] * state[81] + state[82] * state[82]); |
| 11850 | xx[511] = xx[507] * state[82]; |
| 11851 | xx[512] = xx[507] * state[79]; |
| 11852 | xx[532] = xx[21] * xx[511] - xx[25] * xx[512]; |
| 11853 | xx[533] = xx[507] * state[81]; |
| 11854 | xx[534] = xx[507] * state[80]; |
| 11855 | xx[507] = xx[21] * xx[533] + xx[25] * xx[534]; |
| 11856 | xx[535] = - xx[507]; |
| 11857 | xx[536] = xx[25] * xx[533] - xx[21] * xx[534]; |
| 11858 | xx[537] = - xx[536]; |
| 11859 | xx[538] = xx[21] * xx[512] + xx[25] * xx[511]; |
| 11860 | xx[539] = - xx[538]; |
| 11861 | xx[540] = xx[532]; |
| 11862 | xx[541] = xx[535]; |
| 11863 | xx[542] = xx[537]; |
| 11864 | xx[543] = xx[539]; |
| 11865 | pm_math_quatCompose(xx + 528, xx + 540, xx + 544); |
| 11866 | xx[528] = (xx[536] * xx[532] + xx[538] * xx[507]) * xx[80]; |
| 11867 | xx[529] = xx[80] * (xx[536] * xx[538] - xx[507] * xx[532]); |
| 11868 | xx[530] = xx[22] - (xx[507] * xx[507] + xx[536] * xx[536]) * xx[80]; |
| 11869 | pm_math_cross3(xx + 528, xx + 267, xx + 548); |
| 11870 | pm_math_quatXform(xx + 544, xx + 548, xx + 528); |
| 11871 | pm_math_quatXform(xx + 540, xx + 126, xx + 544); |
| 11872 | xx[531] = xx[545] * xx[455] - xx[378] * xx[544]; |
| 11873 | xx[547] = 5.157931604049537e-12; |
| 11874 | xx[548] = 9.862118968695376e-13; |
| 11875 | xx[549] = xx[547] * xx[378] + xx[548] * xx[455]; |
| 11876 | xx[550] = xx[80] * xx[455] * xx[531] - (xx[545] - xx[80] * xx[549] * xx[455]) |
| 11877 | - xx[548]; |
| 11878 | xx[551] = - xx[502]; |
| 11879 | xx[552] = xx[400]; |
| 11880 | xx[553] = xx[451]; |
| 11881 | xx[554] = xx[551]; |
| 11882 | xx[555] = xx[544] + xx[80] * xx[378] * xx[531] + xx[80] * xx[549] * xx[378] - |
| 11883 | xx[547]; |
| 11884 | xx[531] = xx[555] * xx[502]; |
| 11885 | xx[549] = xx[550] * xx[502]; |
| 11886 | xx[556] = xx[555] * xx[400] - xx[451] * xx[550]; |
| 11887 | xx[557] = xx[531]; |
| 11888 | xx[558] = - xx[549]; |
| 11889 | xx[559] = xx[556]; |
| 11890 | pm_math_cross3(xx + 552, xx + 557, xx + 560); |
| 11891 | xx[563] = - (xx[323] - xx[447]); |
| 11892 | xx[564] = xx[444]; |
| 11893 | xx[565] = xx[446]; |
| 11894 | xx[566] = xx[506]; |
| 11895 | pm_math_quatCompose(xx + 563, xx + 540, xx + 567); |
| 11896 | pm_math_quatXform(xx + 567, xx + 280, xx + 557); |
| 11897 | pm_math_quatXform(xx + 540, xx + 167, xx + 571); |
| 11898 | pm_math_quatXform(xx + 563, xx + 571, xx + 574); |
| 11899 | pm_math_quatXform(xx + 567, xx + 297, xx + 571); |
| 11900 | pm_math_quatXform(xx + 540, xx + 176, xx + 577); |
| 11901 | pm_math_quatXform(xx + 563, xx + 577, xx + 540); |
| 11902 | xx[323] = xx[102] * xx[570]; |
| 11903 | xx[444] = xx[102] * xx[568] + xx[123] * xx[569]; |
| 11904 | xx[577] = - xx[323]; |
| 11905 | xx[578] = - (xx[123] * xx[570]); |
| 11906 | xx[579] = xx[444]; |
| 11907 | pm_math_cross3(xx + 568, xx + 577, xx + 580); |
| 11908 | xx[577] = xx[535]; |
| 11909 | xx[578] = xx[537]; |
| 11910 | xx[579] = xx[539]; |
| 11911 | xx[446] = xx[117] * xx[538]; |
| 11912 | xx[447] = xx[119] * xx[538]; |
| 11913 | xx[506] = xx[117] * xx[507] + xx[536] * xx[119]; |
| 11914 | xx[535] = xx[446]; |
| 11915 | xx[536] = xx[447]; |
| 11916 | xx[537] = - xx[506]; |
| 11917 | pm_math_cross3(xx + 577, xx + 535, xx + 583); |
| 11918 | xx[535] = xx[80] * (xx[583] + xx[446] * xx[532]) - xx[119]; |
| 11919 | xx[536] = xx[117] + (xx[447] * xx[532] + xx[584]) * xx[80]; |
| 11920 | xx[537] = (xx[585] - xx[506] * xx[532]) * xx[80]; |
| 11921 | pm_math_quatXform(xx + 563, xx + 535, xx + 577); |
| 11922 | xx[446] = xx[2] * state[49]; |
| 11923 | xx[447] = cos(xx[446]); |
| 11924 | xx[506] = xx[312] * xx[447]; |
| 11925 | xx[507] = sin(xx[446]); |
| 11926 | xx[446] = xx[312] * xx[507]; |
| 11927 | xx[532] = xx[506] + xx[446]; |
| 11928 | xx[535] = xx[379] * xx[447]; |
| 11929 | xx[447] = xx[379] * xx[507]; |
| 11930 | xx[507] = xx[535] - xx[447]; |
| 11931 | xx[536] = xx[535] + xx[447]; |
| 11932 | xx[447] = xx[506] - xx[446]; |
| 11933 | xx[583] = xx[532]; |
| 11934 | xx[584] = xx[507]; |
| 11935 | xx[585] = xx[536]; |
| 11936 | xx[586] = xx[447]; |
| 11937 | pm_math_quatCompose(xx + 75, xx + 583, xx + 587); |
| 11938 | pm_math_quatCompose(xx + 50, xx + 587, xx + 591); |
| 11939 | pm_math_quatCompose(xx + 35, xx + 591, xx + 595); |
| 11940 | pm_math_quatCompose(xx + 17, xx + 595, xx + 599); |
| 11941 | xx[537] = xx[80] * (xx[596] * xx[598] - xx[595] * xx[597]); |
| 11942 | xx[538] = (xx[595] * xx[596] + xx[597] * xx[598]) * xx[80]; |
| 11943 | xx[539] = xx[22] - (xx[596] * xx[596] + xx[597] * xx[597]) * xx[80]; |
| 11944 | pm_math_cross3(xx + 537, xx + 84, xx + 595); |
| 11945 | pm_math_quatXform(xx + 599, xx + 595, xx + 537); |
| 11946 | xx[446] = 0.1158410329922713; |
| 11947 | xx[506] = 5.998698970888227e-12; |
| 11948 | xx[535] = 6.30935626036444e-12; |
| 11949 | xx[595] = - xx[506]; |
| 11950 | xx[596] = - xx[535]; |
| 11951 | xx[597] = 4.000000001735564e-3; |
| 11952 | pm_math_quatXform(xx + 583, xx + 595, xx + 598); |
| 11953 | xx[543] = xx[446] + xx[598]; |
| 11954 | xx[601] = 0.09621024525612379; |
| 11955 | xx[598] = xx[601] - xx[600]; |
| 11956 | xx[602] = - xx[543]; |
| 11957 | xx[603] = - xx[599]; |
| 11958 | xx[604] = xx[598]; |
| 11959 | pm_math_quatXform(xx + 75, xx + 602, xx + 605); |
| 11960 | xx[600] = xx[605] - xx[107]; |
| 11961 | xx[608] = xx[606] + xx[109]; |
| 11962 | xx[605] = xx[607] - xx[101]; |
| 11963 | xx[609] = xx[600]; |
| 11964 | xx[610] = xx[608]; |
| 11965 | xx[611] = xx[605]; |
| 11966 | pm_math_quatXform(xx + 50, xx + 609, xx + 612); |
| 11967 | xx[606] = xx[612] + xx[121]; |
| 11968 | xx[607] = xx[613] + xx[124]; |
| 11969 | xx[609] = xx[614] + xx[116]; |
| 11970 | xx[610] = xx[606]; |
| 11971 | xx[611] = xx[607]; |
| 11972 | xx[612] = xx[609]; |
| 11973 | pm_math_quatXform(xx + 35, xx + 610, xx + 613); |
| 11974 | xx[610] = xx[614] + xx[133]; |
| 11975 | xx[611] = xx[613] + xx[132]; |
| 11976 | xx[612] = xx[610] * xx[10] - xx[611] * xx[8]; |
| 11977 | xx[613] = xx[80] * xx[10] * xx[612] - (xx[610] - xx[137]) - xx[135]; |
| 11978 | xx[610] = xx[611] + xx[80] * xx[8] * xx[612] + xx[120] - xx[131]; |
| 11979 | xx[611] = xx[15] * xx[610]; |
| 11980 | xx[612] = xx[15] * xx[613]; |
| 11981 | xx[614] = xx[3] * xx[610] - xx[613] * xx[7]; |
| 11982 | xx[615] = - xx[611]; |
| 11983 | xx[616] = xx[612]; |
| 11984 | xx[617] = xx[614]; |
| 11985 | pm_math_cross3(xx + 139, xx + 615, xx + 618); |
| 11986 | pm_math_quatCompose(xx + 153, xx + 591, xx + 621); |
| 11987 | xx[615] = xx[4] * xx[594]; |
| 11988 | xx[616] = xx[4] * xx[592] + xx[593]; |
| 11989 | xx[625] = xx[615]; |
| 11990 | xx[626] = xx[594]; |
| 11991 | xx[627] = - xx[616]; |
| 11992 | pm_math_cross3(xx + 592, xx + 625, xx + 628); |
| 11993 | xx[617] = xx[591] * xx[594]; |
| 11994 | xx[625] = xx[22] + (xx[628] - xx[591] * xx[615]) * xx[80]; |
| 11995 | xx[626] = xx[80] * (xx[629] - xx[617]) - xx[4]; |
| 11996 | xx[627] = xx[80] * (xx[630] + xx[591] * xx[616]); |
| 11997 | pm_math_cross3(xx + 625, xx + 84, xx + 628); |
| 11998 | pm_math_quatXform(xx + 621, xx + 628, xx + 625); |
| 11999 | xx[616] = - (xx[609] * xx[4]); |
| 12000 | xx[628] = xx[616]; |
| 12001 | xx[629] = - xx[609]; |
| 12002 | xx[630] = xx[607] + xx[606] * xx[4]; |
| 12003 | pm_math_quatXform(xx + 35, xx + 628, xx + 631); |
| 12004 | xx[628] = xx[631] + xx[170]; |
| 12005 | xx[629] = xx[632] + xx[171]; |
| 12006 | xx[630] = xx[633] + xx[172]; |
| 12007 | pm_math_quatXform(xx + 149, xx + 628, xx + 631); |
| 12008 | xx[628] = xx[592] - xx[4] * xx[593]; |
| 12009 | xx[634] = - xx[594]; |
| 12010 | xx[635] = xx[615]; |
| 12011 | xx[636] = xx[628]; |
| 12012 | pm_math_cross3(xx + 592, xx + 634, xx + 637); |
| 12013 | xx[634] = xx[4] + (xx[617] + xx[637]) * xx[80]; |
| 12014 | xx[635] = xx[22] + xx[80] * (xx[638] - xx[4] * xx[617]); |
| 12015 | xx[636] = xx[80] * (xx[639] - xx[591] * xx[628]); |
| 12016 | pm_math_cross3(xx + 634, xx + 84, xx + 628); |
| 12017 | pm_math_quatXform(xx + 621, xx + 628, xx + 634); |
| 12018 | xx[628] = xx[609]; |
| 12019 | xx[629] = xx[616]; |
| 12020 | xx[630] = xx[607] * xx[4] - xx[606]; |
| 12021 | pm_math_quatXform(xx + 35, xx + 628, xx + 615); |
| 12022 | xx[628] = xx[615] + xx[182]; |
| 12023 | xx[629] = xx[616] + xx[183]; |
| 12024 | xx[630] = xx[617] + xx[184]; |
| 12025 | pm_math_quatXform(xx + 149, xx + 628, xx + 615); |
| 12026 | xx[628] = xx[80] * (xx[592] * xx[594] - xx[591] * xx[593]); |
| 12027 | xx[629] = (xx[591] * xx[592] + xx[593] * xx[594]) * xx[80]; |
| 12028 | xx[630] = xx[22] - (xx[592] * xx[592] + xx[593] * xx[593]) * xx[80]; |
| 12029 | pm_math_cross3(xx + 628, xx + 84, xx + 591); |
| 12030 | pm_math_quatXform(xx + 621, xx + 591, xx + 628); |
| 12031 | xx[591] = xx[606] * xx[33]; |
| 12032 | xx[592] = xx[607] * xx[33]; |
| 12033 | xx[593] = xx[606] * xx[23] + xx[31] * xx[607]; |
| 12034 | xx[621] = xx[591]; |
| 12035 | xx[622] = xx[592]; |
| 12036 | xx[623] = - xx[593]; |
| 12037 | pm_math_cross3(xx + 68, xx + 621, xx + 637); |
| 12038 | xx[621] = xx[80] * (xx[637] + xx[591] * xx[27]) + xx[34] - xx[607] - xx[119]; |
| 12039 | xx[622] = xx[606] + xx[80] * (xx[638] + xx[592] * xx[27]) + xx[16] + xx[117]; |
| 12040 | xx[623] = (xx[639] - xx[27] * xx[593]) * xx[80] + xx[30]; |
| 12041 | pm_math_quatXform(xx + 149, xx + 621, xx + 591); |
| 12042 | pm_math_quatCompose(xx + 157, xx + 587, xx + 621); |
| 12043 | xx[594] = xx[589] * xx[589]; |
| 12044 | xx[606] = xx[590] * xx[590]; |
| 12045 | xx[607] = xx[588] * xx[589]; |
| 12046 | xx[609] = xx[587] * xx[590]; |
| 12047 | xx[637] = xx[587] * xx[589]; |
| 12048 | xx[638] = xx[588] * xx[590]; |
| 12049 | xx[639] = xx[22] - (xx[594] + xx[606]) * xx[80]; |
| 12050 | xx[640] = xx[80] * (xx[607] - xx[609]); |
| 12051 | xx[641] = (xx[637] + xx[638]) * xx[80]; |
| 12052 | pm_math_cross3(xx + 639, xx + 84, xx + 642); |
| 12053 | pm_math_quatXform(xx + 621, xx + 642, xx + 639); |
| 12054 | xx[642] = xx[46] * xx[608]; |
| 12055 | xx[643] = xx[48] * xx[605]; |
| 12056 | xx[644] = xx[642] + xx[643]; |
| 12057 | xx[645] = xx[608] * xx[39]; |
| 12058 | xx[646] = xx[605] * xx[39]; |
| 12059 | xx[647] = - xx[644]; |
| 12060 | xx[648] = - xx[645]; |
| 12061 | xx[649] = - xx[646]; |
| 12062 | pm_math_cross3(xx + 198, xx + 647, xx + 650); |
| 12063 | xx[647] = xx[80] * (xx[650] - xx[644] * xx[43]) + xx[207]; |
| 12064 | xx[648] = xx[80] * (xx[651] - xx[645] * xx[43]) + xx[201] - xx[605] - xx[74]; |
| 12065 | xx[649] = xx[608] + xx[80] * (xx[652] - xx[646] * xx[43]) + xx[202] - xx[73]; |
| 12066 | pm_math_quatXform(xx + 153, xx + 647, xx + 644); |
| 12067 | xx[647] = xx[588] * xx[588]; |
| 12068 | xx[648] = xx[589] * xx[590]; |
| 12069 | xx[589] = xx[587] * xx[588]; |
| 12070 | xx[649] = (xx[609] + xx[607]) * xx[80]; |
| 12071 | xx[650] = xx[22] - (xx[606] + xx[647]) * xx[80]; |
| 12072 | xx[651] = xx[80] * (xx[648] - xx[589]); |
| 12073 | pm_math_cross3(xx + 649, xx + 84, xx + 652); |
| 12074 | pm_math_quatXform(xx + 621, xx + 652, xx + 649); |
| 12075 | xx[587] = xx[46] * xx[600]; |
| 12076 | xx[588] = xx[600] * xx[39]; |
| 12077 | xx[590] = xx[588] - xx[643]; |
| 12078 | xx[606] = xx[46] * xx[605]; |
| 12079 | xx[652] = xx[587]; |
| 12080 | xx[653] = xx[590]; |
| 12081 | xx[654] = xx[606]; |
| 12082 | pm_math_cross3(xx + 198, xx + 652, xx + 655); |
| 12083 | xx[652] = xx[605] + (xx[587] * xx[43] + xx[655]) * xx[80] + xx[166] + xx[74]; |
| 12084 | xx[653] = (xx[43] * xx[590] + xx[656]) * xx[80] + xx[58]; |
| 12085 | xx[654] = (xx[606] * xx[43] + xx[657]) * xx[80] + xx[61] - xx[600] - xx[72]; |
| 12086 | pm_math_quatXform(xx + 153, xx + 652, xx + 605); |
| 12087 | xx[652] = xx[80] * (xx[638] - xx[637]); |
| 12088 | xx[653] = (xx[589] + xx[648]) * xx[80]; |
| 12089 | xx[654] = xx[22] - (xx[647] + xx[594]) * xx[80]; |
| 12090 | pm_math_cross3(xx + 652, xx + 84, xx + 655); |
| 12091 | pm_math_quatXform(xx + 621, xx + 655, xx + 652); |
| 12092 | xx[587] = xx[48] * xx[600]; |
| 12093 | xx[589] = xx[48] * xx[608]; |
| 12094 | xx[590] = xx[588] - xx[642]; |
| 12095 | xx[621] = xx[587]; |
| 12096 | xx[622] = xx[589]; |
| 12097 | xx[623] = xx[590]; |
| 12098 | pm_math_cross3(xx + 198, xx + 621, xx + 655); |
| 12099 | xx[621] = (xx[587] * xx[43] + xx[655]) * xx[80] + xx[59] - xx[608] + xx[73]; |
| 12100 | xx[622] = xx[600] + (xx[589] * xx[43] + xx[656]) * xx[80] + xx[11] + xx[72]; |
| 12101 | xx[623] = (xx[43] * xx[590] + xx[657]) * xx[80] + xx[47]; |
| 12102 | pm_math_quatXform(xx + 153, xx + 621, xx + 587); |
| 12103 | pm_math_quatCompose(xx + 191, xx + 583, xx + 621); |
| 12104 | xx[583] = xx[507]; |
| 12105 | xx[584] = xx[536]; |
| 12106 | xx[585] = xx[447]; |
| 12107 | xx[586] = xx[536] * xx[63]; |
| 12108 | xx[590] = xx[63] * xx[507] - xx[57] * xx[447]; |
| 12109 | xx[594] = xx[536] * xx[57]; |
| 12110 | xx[655] = - xx[586]; |
| 12111 | xx[656] = xx[590]; |
| 12112 | xx[657] = xx[594]; |
| 12113 | pm_math_cross3(xx + 583, xx + 655, xx + 658); |
| 12114 | xx[655] = xx[80] * (xx[658] + xx[532] * xx[586]) - xx[57]; |
| 12115 | xx[656] = xx[80] * (xx[659] - xx[532] * xx[590]); |
| 12116 | xx[657] = (xx[660] - xx[532] * xx[594]) * xx[80] - xx[63]; |
| 12117 | pm_math_cross3(xx + 655, xx + 84, xx + 658); |
| 12118 | pm_math_quatXform(xx + 621, xx + 658, xx + 655); |
| 12119 | xx[658] = - (xx[63] * xx[599]); |
| 12120 | xx[659] = xx[63] * xx[543] + xx[57] * xx[598]; |
| 12121 | xx[660] = xx[57] * xx[599]; |
| 12122 | pm_math_quatXform(xx + 75, xx + 658, xx + 598); |
| 12123 | xx[658] = xx[598] + xx[93]; |
| 12124 | xx[659] = xx[599] + xx[110] - xx[67]; |
| 12125 | xx[660] = xx[600] - xx[111]; |
| 12126 | pm_math_quatXform(xx + 157, xx + 658, xx + 598); |
| 12127 | xx[543] = xx[72] * xx[624]; |
| 12128 | xx[586] = xx[72] * xx[622] - xx[73] * xx[623]; |
| 12129 | xx[658] = - xx[543]; |
| 12130 | xx[659] = xx[73] * xx[624]; |
| 12131 | xx[660] = xx[586]; |
| 12132 | pm_math_cross3(xx + 622, xx + 658, xx + 661); |
| 12133 | xx[590] = xx[506] * xx[447]; |
| 12134 | xx[594] = xx[535] * xx[447]; |
| 12135 | xx[447] = xx[506] * xx[507] + xx[536] * xx[535]; |
| 12136 | xx[658] = xx[590]; |
| 12137 | xx[659] = xx[594]; |
| 12138 | xx[660] = - xx[447]; |
| 12139 | pm_math_cross3(xx + 583, xx + 658, xx + 664); |
| 12140 | xx[583] = xx[535] + xx[80] * (xx[664] + xx[532] * xx[590]); |
| 12141 | xx[584] = (xx[532] * xx[594] + xx[665]) * xx[80] - xx[506]; |
| 12142 | xx[585] = (xx[666] - xx[532] * xx[447]) * xx[80]; |
| 12143 | pm_math_quatXform(xx + 191, xx + 583, xx + 658); |
| 12144 | xx[447] = xx[2] * state[88]; |
| 12145 | xx[507] = cos(xx[447]); |
| 12146 | xx[532] = 0.6324445710612973; |
| 12147 | xx[536] = xx[2] * state[86]; |
| 12148 | xx[583] = cos(xx[536]); |
| 12149 | xx[584] = 0.6324396579890008; |
| 12150 | xx[585] = sin(xx[536]); |
| 12151 | xx[536] = xx[532] * xx[583] + xx[584] * xx[585]; |
| 12152 | xx[590] = xx[507] * xx[536]; |
| 12153 | xx[594] = xx[584] * xx[583] - xx[532] * xx[585]; |
| 12154 | xx[608] = sin(xx[447]); |
| 12155 | xx[447] = xx[594] * xx[608]; |
| 12156 | xx[609] = 0.3162538200043575; |
| 12157 | xx[637] = 0.3162553791961478; |
| 12158 | xx[638] = xx[609] * xx[585] - xx[637] * xx[583]; |
| 12159 | xx[642] = xx[609] * xx[583] + xx[637] * xx[585]; |
| 12160 | xx[583] = - (xx[638] * xx[507] + xx[608] * xx[642]); |
| 12161 | xx[585] = xx[638] * xx[608] - xx[507] * xx[642]; |
| 12162 | xx[643] = xx[594] * xx[507] - xx[608] * xx[536]; |
| 12163 | xx[664] = - (xx[590] + xx[447]); |
| 12164 | xx[665] = xx[583]; |
| 12165 | xx[666] = xx[585]; |
| 12166 | xx[667] = xx[643]; |
| 12167 | xx[647] = xx[22] / sqrt(state[90] * state[90] + state[91] * state[91] + state |
| 12168 | [92] * state[92] + state[93] * state[93]); |
| 12169 | xx[648] = xx[647] * state[93]; |
| 12170 | xx[668] = xx[647] * state[90]; |
| 12171 | xx[669] = xx[21] * xx[648] - xx[25] * xx[668]; |
| 12172 | xx[670] = xx[647] * state[92]; |
| 12173 | xx[671] = xx[647] * state[91]; |
| 12174 | xx[647] = xx[21] * xx[670] + xx[25] * xx[671]; |
| 12175 | xx[672] = - xx[647]; |
| 12176 | xx[673] = xx[25] * xx[670] - xx[21] * xx[671]; |
| 12177 | xx[674] = - xx[673]; |
| 12178 | xx[675] = xx[21] * xx[668] + xx[25] * xx[648]; |
| 12179 | xx[676] = - xx[675]; |
| 12180 | xx[677] = xx[669]; |
| 12181 | xx[678] = xx[672]; |
| 12182 | xx[679] = xx[674]; |
| 12183 | xx[680] = xx[676]; |
| 12184 | pm_math_quatCompose(xx + 664, xx + 677, xx + 681); |
| 12185 | xx[664] = (xx[673] * xx[669] + xx[647] * xx[675]) * xx[80]; |
| 12186 | xx[665] = xx[80] * (xx[673] * xx[675] - xx[669] * xx[647]); |
| 12187 | xx[666] = xx[22] - (xx[647] * xx[647] + xx[673] * xx[673]) * xx[80]; |
| 12188 | pm_math_cross3(xx + 664, xx + 267, xx + 685); |
| 12189 | pm_math_quatXform(xx + 681, xx + 685, xx + 664); |
| 12190 | pm_math_quatXform(xx + 677, xx + 126, xx + 681); |
| 12191 | xx[667] = xx[682] * xx[608] - xx[507] * xx[681]; |
| 12192 | xx[684] = 1.600627075326599e-13; |
| 12193 | xx[685] = 8.497959654019115e-12; |
| 12194 | xx[686] = xx[684] * xx[507] + xx[685] * xx[608]; |
| 12195 | xx[687] = xx[80] * xx[608] * xx[667] - (xx[682] - xx[80] * xx[686] * xx[608]) |
| 12196 | - xx[685]; |
| 12197 | xx[688] = - xx[536]; |
| 12198 | xx[689] = xx[688]; |
| 12199 | xx[690] = xx[594]; |
| 12200 | xx[691] = xx[642]; |
| 12201 | xx[692] = xx[681] + xx[80] * xx[507] * xx[667] + xx[80] * xx[686] * xx[507] - |
| 12202 | xx[684]; |
| 12203 | xx[667] = xx[692] * xx[642]; |
| 12204 | xx[686] = xx[687] * xx[642]; |
| 12205 | xx[693] = xx[692] * xx[536] + xx[594] * xx[687]; |
| 12206 | xx[694] = - xx[667]; |
| 12207 | xx[695] = xx[686]; |
| 12208 | xx[696] = - xx[693]; |
| 12209 | pm_math_cross3(xx + 689, xx + 694, xx + 697); |
| 12210 | xx[700] = - (xx[447] + xx[590]); |
| 12211 | xx[701] = xx[583]; |
| 12212 | xx[702] = xx[585]; |
| 12213 | xx[703] = xx[643]; |
| 12214 | pm_math_quatCompose(xx + 700, xx + 677, xx + 704); |
| 12215 | pm_math_quatXform(xx + 704, xx + 280, xx + 694); |
| 12216 | pm_math_quatXform(xx + 677, xx + 167, xx + 708); |
| 12217 | pm_math_quatXform(xx + 700, xx + 708, xx + 711); |
| 12218 | pm_math_quatXform(xx + 704, xx + 297, xx + 708); |
| 12219 | pm_math_quatXform(xx + 677, xx + 176, xx + 714); |
| 12220 | pm_math_quatXform(xx + 700, xx + 714, xx + 677); |
| 12221 | xx[447] = xx[102] * xx[707]; |
| 12222 | xx[583] = xx[102] * xx[705] + xx[123] * xx[706]; |
| 12223 | xx[714] = - xx[447]; |
| 12224 | xx[715] = - (xx[123] * xx[707]); |
| 12225 | xx[716] = xx[583]; |
| 12226 | pm_math_cross3(xx + 705, xx + 714, xx + 717); |
| 12227 | xx[714] = xx[672]; |
| 12228 | xx[715] = xx[674]; |
| 12229 | xx[716] = xx[676]; |
| 12230 | xx[585] = xx[117] * xx[675]; |
| 12231 | xx[590] = xx[119] * xx[675]; |
| 12232 | xx[643] = xx[117] * xx[647] + xx[673] * xx[119]; |
| 12233 | xx[672] = xx[585]; |
| 12234 | xx[673] = xx[590]; |
| 12235 | xx[674] = - xx[643]; |
| 12236 | pm_math_cross3(xx + 714, xx + 672, xx + 720); |
| 12237 | xx[672] = xx[80] * (xx[720] + xx[585] * xx[669]) - xx[119]; |
| 12238 | xx[673] = xx[117] + (xx[590] * xx[669] + xx[721]) * xx[80]; |
| 12239 | xx[674] = (xx[722] - xx[643] * xx[669]) * xx[80]; |
| 12240 | pm_math_quatXform(xx + 700, xx + 672, xx + 714); |
| 12241 | xx[585] = xx[2] * state[14]; |
| 12242 | xx[590] = cos(xx[585]); |
| 12243 | xx[643] = 0.5901074779979933; |
| 12244 | xx[647] = xx[2] * state[12]; |
| 12245 | xx[669] = cos(xx[647]); |
| 12246 | xx[672] = 0.5901036711621462; |
| 12247 | xx[673] = sin(xx[647]); |
| 12248 | xx[647] = xx[643] * xx[669] + xx[672] * xx[673]; |
| 12249 | xx[674] = xx[590] * xx[647]; |
| 12250 | xx[675] = xx[672] * xx[669] - xx[643] * xx[673]; |
| 12251 | xx[676] = sin(xx[585]); |
| 12252 | xx[585] = xx[675] * xx[676]; |
| 12253 | xx[680] = 0.3895853754265615; |
| 12254 | xx[720] = 0.389581900177037; |
| 12255 | xx[721] = xx[680] * xx[669] - xx[720] * xx[673]; |
| 12256 | xx[722] = xx[720] * xx[669] + xx[680] * xx[673]; |
| 12257 | xx[669] = - (xx[721] * xx[590] - xx[676] * xx[722]); |
| 12258 | xx[673] = xx[721] * xx[676] + xx[590] * xx[722]; |
| 12259 | xx[723] = xx[675] * xx[590] - xx[676] * xx[647]; |
| 12260 | xx[724] = - (xx[674] + xx[585]); |
| 12261 | xx[725] = xx[669]; |
| 12262 | xx[726] = xx[673]; |
| 12263 | xx[727] = xx[723]; |
| 12264 | xx[728] = xx[22] / sqrt(state[16] * state[16] + state[17] * state[17] + state |
| 12265 | [18] * state[18] + state[19] * state[19]); |
| 12266 | xx[729] = xx[728] * state[19]; |
| 12267 | xx[730] = xx[728] * state[16]; |
| 12268 | xx[731] = xx[21] * xx[729] - xx[25] * xx[730]; |
| 12269 | xx[732] = xx[728] * state[18]; |
| 12270 | xx[733] = xx[728] * state[17]; |
| 12271 | xx[728] = xx[21] * xx[732] + xx[25] * xx[733]; |
| 12272 | xx[734] = - xx[728]; |
| 12273 | xx[735] = xx[25] * xx[732] - xx[21] * xx[733]; |
| 12274 | xx[736] = - xx[735]; |
| 12275 | xx[737] = xx[21] * xx[730] + xx[25] * xx[729]; |
| 12276 | xx[738] = - xx[737]; |
| 12277 | xx[739] = xx[731]; |
| 12278 | xx[740] = xx[734]; |
| 12279 | xx[741] = xx[736]; |
| 12280 | xx[742] = xx[738]; |
| 12281 | pm_math_quatCompose(xx + 724, xx + 739, xx + 743); |
| 12282 | xx[724] = (xx[735] * xx[731] + xx[737] * xx[728]) * xx[80]; |
| 12283 | xx[725] = xx[80] * (xx[735] * xx[737] - xx[731] * xx[728]); |
| 12284 | xx[726] = xx[22] - (xx[728] * xx[728] + xx[735] * xx[735]) * xx[80]; |
| 12285 | pm_math_cross3(xx + 724, xx + 267, xx + 747); |
| 12286 | pm_math_quatXform(xx + 743, xx + 747, xx + 724); |
| 12287 | pm_math_quatXform(xx + 739, xx + 126, xx + 743); |
| 12288 | xx[727] = xx[744] * xx[676] - xx[590] * xx[743]; |
| 12289 | xx[746] = 7.748428954013064e-12; |
| 12290 | xx[747] = 5.376764528053357e-12; |
| 12291 | xx[748] = xx[746] * xx[590] - xx[747] * xx[676]; |
| 12292 | xx[749] = xx[80] * xx[676] * xx[727] - (xx[744] + xx[80] * xx[748] * xx[676]) |
| 12293 | - xx[747]; |
| 12294 | xx[750] = - xx[647]; |
| 12295 | xx[751] = - xx[722]; |
| 12296 | xx[752] = xx[750]; |
| 12297 | xx[753] = xx[675]; |
| 12298 | xx[754] = xx[751]; |
| 12299 | xx[755] = xx[743] + xx[80] * xx[590] * xx[727] - xx[80] * xx[748] * xx[590] + |
| 12300 | xx[746]; |
| 12301 | xx[727] = xx[755] * xx[722]; |
| 12302 | xx[748] = xx[749] * xx[722]; |
| 12303 | xx[756] = xx[755] * xx[647] + xx[675] * xx[749]; |
| 12304 | xx[757] = xx[727]; |
| 12305 | xx[758] = - xx[748]; |
| 12306 | xx[759] = - xx[756]; |
| 12307 | pm_math_cross3(xx + 752, xx + 757, xx + 760); |
| 12308 | xx[763] = - (xx[585] + xx[674]); |
| 12309 | xx[764] = xx[669]; |
| 12310 | xx[765] = xx[673]; |
| 12311 | xx[766] = xx[723]; |
| 12312 | pm_math_quatCompose(xx + 763, xx + 739, xx + 767); |
| 12313 | pm_math_quatXform(xx + 767, xx + 280, xx + 757); |
| 12314 | pm_math_quatXform(xx + 739, xx + 167, xx + 771); |
| 12315 | pm_math_quatXform(xx + 763, xx + 771, xx + 774); |
| 12316 | pm_math_quatXform(xx + 767, xx + 297, xx + 771); |
| 12317 | pm_math_quatXform(xx + 739, xx + 176, xx + 777); |
| 12318 | pm_math_quatXform(xx + 763, xx + 777, xx + 739); |
| 12319 | xx[585] = xx[102] * xx[770]; |
| 12320 | xx[669] = xx[102] * xx[768] + xx[123] * xx[769]; |
| 12321 | xx[777] = - xx[585]; |
| 12322 | xx[778] = - (xx[123] * xx[770]); |
| 12323 | xx[779] = xx[669]; |
| 12324 | pm_math_cross3(xx + 768, xx + 777, xx + 780); |
| 12325 | xx[777] = xx[734]; |
| 12326 | xx[778] = xx[736]; |
| 12327 | xx[779] = xx[738]; |
| 12328 | xx[673] = xx[117] * xx[737]; |
| 12329 | xx[674] = xx[119] * xx[737]; |
| 12330 | xx[723] = xx[117] * xx[728] + xx[735] * xx[119]; |
| 12331 | xx[734] = xx[673]; |
| 12332 | xx[735] = xx[674]; |
| 12333 | xx[736] = - xx[723]; |
| 12334 | pm_math_cross3(xx + 777, xx + 734, xx + 783); |
| 12335 | xx[734] = xx[80] * (xx[783] + xx[673] * xx[731]) - xx[119]; |
| 12336 | xx[735] = xx[117] + (xx[674] * xx[731] + xx[784]) * xx[80]; |
| 12337 | xx[736] = (xx[785] - xx[723] * xx[731]) * xx[80]; |
| 12338 | pm_math_quatXform(xx + 763, xx + 734, xx + 777); |
| 12339 | xx[673] = xx[2] * state[51]; |
| 12340 | xx[674] = cos(xx[673]); |
| 12341 | xx[723] = sin(xx[673]); |
| 12342 | xx[673] = xx[674] * xx[66] + xx[723] * xx[54]; |
| 12343 | xx[728] = xx[64] * xx[674] - xx[723] * xx[65]; |
| 12344 | xx[731] = xx[674] * xx[65] + xx[64] * xx[723]; |
| 12345 | xx[64] = xx[674] * xx[54] - xx[723] * xx[66]; |
| 12346 | xx[734] = xx[673]; |
| 12347 | xx[735] = xx[728]; |
| 12348 | xx[736] = xx[731]; |
| 12349 | xx[737] = xx[64]; |
| 12350 | pm_math_quatCompose(xx + 50, xx + 734, xx + 783); |
| 12351 | pm_math_quatCompose(xx + 35, xx + 783, xx + 787); |
| 12352 | pm_math_quatCompose(xx + 17, xx + 787, xx + 791); |
| 12353 | xx[17] = xx[80] * (xx[788] * xx[790] - xx[787] * xx[789]); |
| 12354 | xx[18] = (xx[787] * xx[788] + xx[789] * xx[790]) * xx[80]; |
| 12355 | xx[19] = xx[22] - (xx[788] * xx[788] + xx[789] * xx[789]) * xx[80]; |
| 12356 | pm_math_cross3(xx + 17, xx + 84, xx + 787); |
| 12357 | pm_math_quatXform(xx + 791, xx + 787, xx + 17); |
| 12358 | xx[20] = 0.02540000000000185; |
| 12359 | xx[54] = 6.817225262079063e-12; |
| 12360 | xx[65] = xx[54] * xx[723]; |
| 12361 | xx[66] = xx[65] * xx[723]; |
| 12362 | xx[738] = 5.61723311615081e-12; |
| 12363 | xx[742] = xx[738] * xx[723]; |
| 12364 | xx[787] = xx[674] * xx[742]; |
| 12365 | xx[788] = xx[20] - (xx[80] * (xx[66] - xx[787]) - xx[54]); |
| 12366 | xx[789] = xx[674] * xx[65]; |
| 12367 | xx[65] = xx[742] * xx[723]; |
| 12368 | xx[742] = (xx[789] + xx[65]) * xx[80] - xx[738]; |
| 12369 | xx[790] = 0.152426400001803; |
| 12370 | xx[791] = - xx[790]; |
| 12371 | xx[792] = xx[788]; |
| 12372 | xx[793] = - xx[742]; |
| 12373 | xx[794] = xx[791]; |
| 12374 | pm_math_quatXform(xx + 75, xx + 792, xx + 795); |
| 12375 | xx[798] = xx[795] - xx[107]; |
| 12376 | xx[799] = xx[796] + xx[109]; |
| 12377 | xx[795] = xx[797] - xx[101]; |
| 12378 | xx[800] = xx[798]; |
| 12379 | xx[801] = xx[799]; |
| 12380 | xx[802] = xx[795]; |
| 12381 | pm_math_quatXform(xx + 50, xx + 800, xx + 803); |
| 12382 | xx[50] = xx[803] + xx[121]; |
| 12383 | xx[51] = xx[804] + xx[124]; |
| 12384 | xx[52] = xx[805] + xx[116]; |
| 12385 | pm_math_quatXform(xx + 35, xx + 50, xx + 800); |
| 12386 | xx[53] = xx[801] + xx[133]; |
| 12387 | xx[796] = xx[800] + xx[132]; |
| 12388 | xx[797] = xx[53] * xx[10] - xx[796] * xx[8]; |
| 12389 | xx[800] = xx[80] * xx[10] * xx[797] - (xx[53] - xx[137]) - xx[135]; |
| 12390 | xx[53] = xx[796] + xx[80] * xx[8] * xx[797] + xx[120] - xx[131]; |
| 12391 | xx[120] = xx[53] * xx[15]; |
| 12392 | xx[137] = xx[800] * xx[15]; |
| 12393 | xx[796] = xx[53] * xx[3] - xx[800] * xx[7]; |
| 12394 | xx[801] = - xx[120]; |
| 12395 | xx[802] = xx[137]; |
| 12396 | xx[803] = xx[796]; |
| 12397 | pm_math_cross3(xx + 139, xx + 801, xx + 804); |
| 12398 | pm_math_quatCompose(xx + 153, xx + 783, xx + 807); |
| 12399 | xx[797] = xx[4] * xx[786]; |
| 12400 | xx[801] = xx[4] * xx[784] + xx[785]; |
| 12401 | xx[811] = xx[797]; |
| 12402 | xx[812] = xx[786]; |
| 12403 | xx[813] = - xx[801]; |
| 12404 | pm_math_cross3(xx + 784, xx + 811, xx + 814); |
| 12405 | xx[802] = xx[783] * xx[786]; |
| 12406 | xx[811] = xx[22] + (xx[814] - xx[783] * xx[797]) * xx[80]; |
| 12407 | xx[812] = xx[80] * (xx[815] - xx[802]) - xx[4]; |
| 12408 | xx[813] = xx[80] * (xx[816] + xx[783] * xx[801]); |
| 12409 | pm_math_cross3(xx + 811, xx + 84, xx + 814); |
| 12410 | pm_math_quatXform(xx + 807, xx + 814, xx + 811); |
| 12411 | xx[801] = - (xx[52] * xx[4]); |
| 12412 | xx[814] = xx[801]; |
| 12413 | xx[815] = - xx[52]; |
| 12414 | xx[816] = xx[51] + xx[50] * xx[4]; |
| 12415 | pm_math_quatXform(xx + 35, xx + 814, xx + 817); |
| 12416 | xx[814] = xx[817] + xx[170]; |
| 12417 | xx[815] = xx[818] + xx[171]; |
| 12418 | xx[816] = xx[819] + xx[172]; |
| 12419 | pm_math_quatXform(xx + 149, xx + 814, xx + 170); |
| 12420 | xx[803] = xx[784] - xx[4] * xx[785]; |
| 12421 | xx[814] = - xx[786]; |
| 12422 | xx[815] = xx[797]; |
| 12423 | xx[816] = xx[803]; |
| 12424 | pm_math_cross3(xx + 784, xx + 814, xx + 817); |
| 12425 | xx[814] = xx[4] + (xx[802] + xx[817]) * xx[80]; |
| 12426 | xx[815] = xx[22] + xx[80] * (xx[818] - xx[4] * xx[802]); |
| 12427 | xx[816] = xx[80] * (xx[819] - xx[783] * xx[803]); |
| 12428 | pm_math_cross3(xx + 814, xx + 84, xx + 817); |
| 12429 | pm_math_quatXform(xx + 807, xx + 817, xx + 814); |
| 12430 | xx[817] = xx[52]; |
| 12431 | xx[818] = xx[801]; |
| 12432 | xx[819] = xx[51] * xx[4] - xx[50]; |
| 12433 | pm_math_quatXform(xx + 35, xx + 817, xx + 801); |
| 12434 | xx[35] = xx[801] + xx[182]; |
| 12435 | xx[36] = xx[802] + xx[183]; |
| 12436 | xx[37] = xx[803] + xx[184]; |
| 12437 | pm_math_quatXform(xx + 149, xx + 35, xx + 182); |
| 12438 | xx[35] = xx[80] * (xx[784] * xx[786] - xx[783] * xx[785]); |
| 12439 | xx[36] = (xx[783] * xx[784] + xx[785] * xx[786]) * xx[80]; |
| 12440 | xx[37] = xx[22] - (xx[784] * xx[784] + xx[785] * xx[785]) * xx[80]; |
| 12441 | pm_math_cross3(xx + 35, xx + 84, xx + 783); |
| 12442 | pm_math_quatXform(xx + 807, xx + 783, xx + 35); |
| 12443 | xx[38] = xx[50] * xx[33]; |
| 12444 | xx[52] = xx[51] * xx[33]; |
| 12445 | xx[33] = xx[50] * xx[23] + xx[51] * xx[31]; |
| 12446 | xx[783] = xx[38]; |
| 12447 | xx[784] = xx[52]; |
| 12448 | xx[785] = - xx[33]; |
| 12449 | pm_math_cross3(xx + 68, xx + 783, xx + 801); |
| 12450 | xx[68] = xx[80] * (xx[801] + xx[38] * xx[27]) + xx[34] - xx[51] - xx[119]; |
| 12451 | xx[69] = xx[50] + xx[80] * (xx[802] + xx[52] * xx[27]) + xx[16] + xx[117]; |
| 12452 | xx[70] = (xx[803] - xx[33] * xx[27]) * xx[80] + xx[30]; |
| 12453 | pm_math_quatXform(xx + 149, xx + 68, xx + 50); |
| 12454 | pm_math_quatCompose(xx + 157, xx + 734, xx + 783); |
| 12455 | xx[16] = xx[731] * xx[731]; |
| 12456 | xx[23] = xx[64] * xx[64]; |
| 12457 | xx[27] = xx[731] * xx[728]; |
| 12458 | xx[30] = xx[673] * xx[64]; |
| 12459 | xx[31] = xx[731] * xx[673]; |
| 12460 | xx[33] = xx[728] * xx[64]; |
| 12461 | xx[68] = xx[22] - (xx[16] + xx[23]) * xx[80]; |
| 12462 | xx[69] = xx[80] * (xx[27] - xx[30]); |
| 12463 | xx[70] = (xx[31] + xx[33]) * xx[80]; |
| 12464 | pm_math_cross3(xx + 68, xx + 84, xx + 734); |
| 12465 | pm_math_quatXform(xx + 783, xx + 734, xx + 68); |
| 12466 | xx[34] = xx[799] * xx[46]; |
| 12467 | xx[38] = xx[795] * xx[48]; |
| 12468 | xx[734] = xx[34] + xx[38]; |
| 12469 | xx[735] = xx[799] * xx[39]; |
| 12470 | xx[736] = xx[795] * xx[39]; |
| 12471 | xx[801] = - xx[734]; |
| 12472 | xx[802] = - xx[735]; |
| 12473 | xx[803] = - xx[736]; |
| 12474 | pm_math_cross3(xx + 198, xx + 801, xx + 807); |
| 12475 | xx[801] = xx[80] * (xx[807] - xx[734] * xx[43]) + xx[207]; |
| 12476 | xx[802] = xx[80] * (xx[808] - xx[735] * xx[43]) + xx[201] - xx[795] - xx[74]; |
| 12477 | xx[803] = xx[799] + xx[80] * (xx[809] - xx[736] * xx[43]) + xx[202] - xx[73]; |
| 12478 | pm_math_quatXform(xx + 153, xx + 801, xx + 734); |
| 12479 | xx[201] = xx[728] * xx[728]; |
| 12480 | xx[202] = xx[731] * xx[64]; |
| 12481 | xx[64] = xx[673] * xx[728]; |
| 12482 | xx[801] = (xx[30] + xx[27]) * xx[80]; |
| 12483 | xx[802] = xx[22] - (xx[23] + xx[201]) * xx[80]; |
| 12484 | xx[803] = xx[80] * (xx[202] - xx[64]); |
| 12485 | pm_math_cross3(xx + 801, xx + 84, xx + 807); |
| 12486 | pm_math_quatXform(xx + 783, xx + 807, xx + 801); |
| 12487 | xx[23] = xx[798] * xx[46]; |
| 12488 | xx[27] = xx[798] * xx[39]; |
| 12489 | xx[30] = xx[27] - xx[38]; |
| 12490 | xx[38] = xx[795] * xx[46]; |
| 12491 | xx[807] = xx[23]; |
| 12492 | xx[808] = xx[30]; |
| 12493 | xx[809] = xx[38]; |
| 12494 | pm_math_cross3(xx + 198, xx + 807, xx + 817); |
| 12495 | xx[807] = xx[795] + (xx[23] * xx[43] + xx[817]) * xx[80] + xx[166] + xx[74]; |
| 12496 | xx[808] = (xx[30] * xx[43] + xx[818]) * xx[80] + xx[58]; |
| 12497 | xx[809] = (xx[38] * xx[43] + xx[819]) * xx[80] + xx[61] - xx[798] - xx[72]; |
| 12498 | pm_math_quatXform(xx + 153, xx + 807, xx + 817); |
| 12499 | xx[807] = xx[80] * (xx[33] - xx[31]); |
| 12500 | xx[808] = (xx[64] + xx[202]) * xx[80]; |
| 12501 | xx[809] = xx[22] - (xx[201] + xx[16]) * xx[80]; |
| 12502 | pm_math_cross3(xx + 807, xx + 84, xx + 820); |
| 12503 | pm_math_quatXform(xx + 783, xx + 820, xx + 807); |
| 12504 | xx[16] = xx[798] * xx[48]; |
| 12505 | xx[23] = xx[799] * xx[48]; |
| 12506 | xx[30] = xx[27] - xx[34]; |
| 12507 | xx[783] = xx[16]; |
| 12508 | xx[784] = xx[23]; |
| 12509 | xx[785] = xx[30]; |
| 12510 | pm_math_cross3(xx + 198, xx + 783, xx + 820); |
| 12511 | xx[198] = (xx[16] * xx[43] + xx[820]) * xx[80] + xx[59] - xx[799] + xx[73]; |
| 12512 | xx[199] = xx[798] + (xx[23] * xx[43] + xx[821]) * xx[80] + xx[11] + xx[72]; |
| 12513 | xx[200] = (xx[30] * xx[43] + xx[822]) * xx[80] + xx[47]; |
| 12514 | pm_math_quatXform(xx + 153, xx + 198, xx + 46); |
| 12515 | xx[11] = xx[674] * xx[191] + xx[194] * xx[723]; |
| 12516 | xx[16] = xx[674] * xx[192] - xx[193] * xx[723]; |
| 12517 | xx[23] = xx[674] * xx[193] + xx[192] * xx[723]; |
| 12518 | xx[27] = xx[674] * xx[194] - xx[191] * xx[723]; |
| 12519 | xx[198] = xx[11]; |
| 12520 | xx[199] = xx[16]; |
| 12521 | xx[200] = xx[23]; |
| 12522 | xx[201] = xx[27]; |
| 12523 | xx[30] = xx[57] * xx[723]; |
| 12524 | xx[31] = xx[80] * xx[674] * xx[30]; |
| 12525 | xx[33] = xx[80] * xx[30] * xx[723] - xx[57]; |
| 12526 | xx[783] = xx[74] * xx[31] + xx[55]; |
| 12527 | xx[784] = xx[106] + xx[74] * xx[33]; |
| 12528 | xx[785] = xx[73] * xx[33] - xx[72] * xx[31]; |
| 12529 | pm_math_quatXform(xx + 198, xx + 783, xx + 797); |
| 12530 | xx[30] = 0.1320051346089697; |
| 12531 | xx[783] = - (xx[63] * xx[742]); |
| 12532 | xx[784] = - (xx[63] * xx[788] + xx[30]); |
| 12533 | xx[785] = xx[57] * xx[742]; |
| 12534 | pm_math_quatXform(xx + 75, xx + 783, xx + 820); |
| 12535 | xx[75] = xx[820] + xx[93]; |
| 12536 | xx[76] = xx[821] + xx[110] - xx[67]; |
| 12537 | xx[77] = xx[822] - xx[111]; |
| 12538 | pm_math_quatXform(xx + 157, xx + 75, xx + 783); |
| 12539 | xx[75] = xx[16]; |
| 12540 | xx[76] = xx[23]; |
| 12541 | xx[77] = xx[27]; |
| 12542 | xx[31] = xx[72] * xx[27]; |
| 12543 | xx[33] = xx[73] * xx[27]; |
| 12544 | xx[27] = xx[72] * xx[16] - xx[23] * xx[73]; |
| 12545 | xx[820] = - xx[31]; |
| 12546 | xx[821] = xx[33]; |
| 12547 | xx[822] = xx[27]; |
| 12548 | pm_math_cross3(xx + 75, xx + 820, xx + 823); |
| 12549 | xx[16] = xx[738] - xx[80] * (xx[789] + xx[65]); |
| 12550 | xx[23] = xx[54] + (xx[787] - xx[66]) * xx[80]; |
| 12551 | xx[34] = xx[194] * xx[23]; |
| 12552 | xx[38] = xx[16] * xx[194]; |
| 12553 | xx[39] = xx[192] * xx[23] + xx[16] * xx[193]; |
| 12554 | xx[64] = xx[34]; |
| 12555 | xx[65] = xx[38]; |
| 12556 | xx[66] = - xx[39]; |
| 12557 | pm_math_cross3(xx + 192, xx + 64, xx + 75); |
| 12558 | xx[826] = xx[0]; |
| 12559 | xx[827] = xx[0]; |
| 12560 | xx[828] = xx[0]; |
| 12561 | xx[829] = xx[0]; |
| 12562 | xx[830] = xx[81] + xx[138] + xx[80] * (xx[146] - xx[129] * xx[14]); |
| 12563 | xx[831] = xx[143] + xx[162]; |
| 12564 | xx[832] = xx[173] + xx[179]; |
| 12565 | xx[833] = xx[185] + xx[188]; |
| 12566 | xx[834] = xx[195] + xx[203]; |
| 12567 | xx[835] = xx[208] + xx[214]; |
| 12568 | xx[836] = xx[211] + xx[217]; |
| 12569 | xx[837] = xx[227] + xx[230]; |
| 12570 | xx[838] = xx[80] * (xx[236] - xx[6] * xx[71]) + xx[9] + xx[80] * (xx[233] - |
| 12571 | xx[191] * xx[88]) + xx[73]; |
| 12572 | xx[839] = xx[0]; |
| 12573 | xx[840] = xx[0]; |
| 12574 | xx[841] = xx[0]; |
| 12575 | xx[842] = xx[0]; |
| 12576 | xx[843] = xx[0]; |
| 12577 | xx[844] = xx[0]; |
| 12578 | xx[845] = xx[0]; |
| 12579 | xx[846] = xx[0]; |
| 12580 | xx[847] = - (xx[244] + xx[272] + xx[80] * (xx[283] + xx[241] * xx[247])); |
| 12581 | xx[848] = - (xx[294] + xx[300]); |
| 12582 | xx[849] = - (xx[303] + xx[259]); |
| 12583 | xx[850] = - (xx[80] * (xx[309] - xx[290] * xx[94]) + xx[306] - xx[123]); |
| 12584 | xx[851] = xx[0]; |
| 12585 | xx[852] = xx[0]; |
| 12586 | xx[853] = xx[0]; |
| 12587 | xx[854] = xx[0]; |
| 12588 | xx[855] = xx[0]; |
| 12589 | xx[856] = xx[0]; |
| 12590 | xx[857] = xx[0]; |
| 12591 | xx[858] = xx[0]; |
| 12592 | xx[859] = xx[0]; |
| 12593 | xx[860] = xx[0]; |
| 12594 | xx[861] = xx[0]; |
| 12595 | xx[862] = xx[0]; |
| 12596 | xx[863] = xx[82] + xx[136] + (xx[130] * xx[14] + xx[147]) * xx[80]; |
| 12597 | xx[864] = xx[144] + xx[163]; |
| 12598 | xx[865] = xx[174] + xx[180]; |
| 12599 | xx[866] = xx[186] + xx[189]; |
| 12600 | xx[867] = xx[196] + xx[204]; |
| 12601 | xx[868] = xx[209] + xx[215]; |
| 12602 | xx[869] = xx[212] + xx[218]; |
| 12603 | xx[870] = xx[228] + xx[231]; |
| 12604 | xx[871] = (xx[6] * xx[91] + xx[237]) * xx[80] + xx[32] + (xx[191] * xx[89] + |
| 12605 | xx[234]) * xx[80] + xx[72]; |
| 12606 | xx[872] = xx[0]; |
| 12607 | xx[873] = xx[0]; |
| 12608 | xx[874] = xx[0]; |
| 12609 | xx[875] = xx[0]; |
| 12610 | xx[876] = xx[0]; |
| 12611 | xx[877] = xx[0]; |
| 12612 | xx[878] = xx[0]; |
| 12613 | xx[879] = xx[0]; |
| 12614 | xx[880] = - (xx[245] + xx[278] + (xx[284] - xx[241] * xx[271]) * xx[80]); |
| 12615 | xx[881] = - (xx[295] + xx[301]); |
| 12616 | xx[882] = - (xx[304] + xx[260]); |
| 12617 | xx[883] = - ((xx[310] - xx[123] * xx[290] * xx[293]) * xx[80] + xx[307] + xx |
| 12618 | [102]); |
| 12619 | xx[884] = xx[0]; |
| 12620 | xx[885] = xx[0]; |
| 12621 | xx[886] = xx[0]; |
| 12622 | xx[887] = xx[0]; |
| 12623 | xx[888] = xx[0]; |
| 12624 | xx[889] = xx[0]; |
| 12625 | xx[890] = xx[0]; |
| 12626 | xx[891] = xx[0]; |
| 12627 | xx[892] = xx[0]; |
| 12628 | xx[893] = xx[0]; |
| 12629 | xx[894] = xx[0]; |
| 12630 | xx[895] = xx[0]; |
| 12631 | xx[896] = xx[83] + (xx[14] * xx[142] + xx[148]) * xx[80]; |
| 12632 | xx[897] = xx[145] + xx[164]; |
| 12633 | xx[898] = xx[175] + xx[181]; |
| 12634 | xx[899] = xx[187] + xx[190]; |
| 12635 | xx[900] = xx[197] + xx[205]; |
| 12636 | xx[901] = xx[210] + xx[216]; |
| 12637 | xx[902] = xx[213] + xx[219]; |
| 12638 | xx[903] = xx[229] + xx[232]; |
| 12639 | xx[904] = (xx[6] * xx[49] + xx[238]) * xx[80] + (xx[191] * xx[92] + xx[235]) * |
| 12640 | xx[80]; |
| 12641 | xx[905] = xx[0]; |
| 12642 | xx[906] = xx[0]; |
| 12643 | xx[907] = xx[0]; |
| 12644 | xx[908] = xx[0]; |
| 12645 | xx[909] = xx[0]; |
| 12646 | xx[910] = xx[0]; |
| 12647 | xx[911] = xx[0]; |
| 12648 | xx[912] = xx[0]; |
| 12649 | xx[913] = - (xx[246] + (xx[285] - xx[241] * xx[279]) * xx[80]); |
| 12650 | xx[914] = - (xx[296] + xx[302]); |
| 12651 | xx[915] = - (xx[305] + xx[261]); |
| 12652 | xx[916] = - ((xx[290] * xx[161] + xx[311]) * xx[80] + xx[308]); |
| 12653 | xx[917] = xx[0]; |
| 12654 | xx[918] = xx[0]; |
| 12655 | xx[919] = xx[0]; |
| 12656 | xx[920] = xx[0]; |
| 12657 | xx[921] = xx[0]; |
| 12658 | xx[922] = xx[0]; |
| 12659 | xx[923] = xx[0]; |
| 12660 | xx[924] = xx[0]; |
| 12661 | xx[925] = xx[0]; |
| 12662 | xx[926] = xx[0]; |
| 12663 | xx[927] = xx[0]; |
| 12664 | xx[928] = xx[0]; |
| 12665 | xx[929] = xx[332] + xx[344] + xx[80] * (xx[349] - xx[342] * xx[14]); |
| 12666 | xx[930] = xx[356] + xx[362]; |
| 12667 | xx[931] = xx[365] + xx[346]; |
| 12668 | xx[932] = xx[359] + xx[320]; |
| 12669 | xx[933] = xx[370] + xx[375]; |
| 12670 | xx[934] = xx[380] + xx[335]; |
| 12671 | xx[935] = xx[383] + xx[316]; |
| 12672 | xx[936] = xx[338] + xx[389]; |
| 12673 | xx[937] = xx[0]; |
| 12674 | xx[938] = xx[80] * (xx[392] + xx[352] * xx[206]) + xx[386] - xx[73]; |
| 12675 | xx[939] = xx[0]; |
| 12676 | xx[940] = xx[0]; |
| 12677 | xx[941] = xx[0]; |
| 12678 | xx[942] = - (xx[395] + xx[412] + xx[80] * (xx[421] - xx[398] * xx[315])); |
| 12679 | xx[943] = - (xx[418] + xx[435]); |
| 12680 | xx[944] = - (xx[432] + xx[402]); |
| 12681 | xx[945] = - (xx[80] * (xx[441] - xx[428] * xx[248]) + xx[438] - xx[123]); |
| 12682 | xx[946] = xx[0]; |
| 12683 | xx[947] = xx[0]; |
| 12684 | xx[948] = xx[0]; |
| 12685 | xx[949] = xx[0]; |
| 12686 | xx[950] = xx[0]; |
| 12687 | xx[951] = xx[0]; |
| 12688 | xx[952] = xx[0]; |
| 12689 | xx[953] = xx[0]; |
| 12690 | xx[954] = xx[0]; |
| 12691 | xx[955] = xx[0]; |
| 12692 | xx[956] = xx[0]; |
| 12693 | xx[957] = xx[0]; |
| 12694 | xx[958] = xx[0]; |
| 12695 | xx[959] = xx[0]; |
| 12696 | xx[960] = xx[0]; |
| 12697 | xx[961] = xx[0]; |
| 12698 | xx[962] = xx[333] + xx[341] + (xx[343] * xx[14] + xx[350]) * xx[80]; |
| 12699 | xx[963] = xx[357] + xx[363]; |
| 12700 | xx[964] = xx[366] + xx[347]; |
| 12701 | xx[965] = xx[360] + xx[321]; |
| 12702 | xx[966] = xx[371] + xx[376]; |
| 12703 | xx[967] = xx[381] + xx[336]; |
| 12704 | xx[968] = xx[384] + xx[317]; |
| 12705 | xx[969] = xx[339] + xx[390]; |
| 12706 | xx[970] = xx[0]; |
| 12707 | xx[971] = (xx[393] - xx[73] * xx[352] * xx[355]) * xx[80] + xx[387] - xx[72]; |
| 12708 | xx[972] = xx[0]; |
| 12709 | xx[973] = xx[0]; |
| 12710 | xx[974] = xx[0]; |
| 12711 | xx[975] = - (xx[396] + xx[416] + (xx[411] * xx[315] + xx[422]) * xx[80]); |
| 12712 | xx[976] = - (xx[419] + xx[436]); |
| 12713 | xx[977] = - (xx[433] + xx[403]); |
| 12714 | xx[978] = - ((xx[442] - xx[123] * xx[428] * xx[431]) * xx[80] + xx[439] + xx |
| 12715 | [102]); |
| 12716 | xx[979] = xx[0]; |
| 12717 | xx[980] = xx[0]; |
| 12718 | xx[981] = xx[0]; |
| 12719 | xx[982] = xx[0]; |
| 12720 | xx[983] = xx[0]; |
| 12721 | xx[984] = xx[0]; |
| 12722 | xx[985] = xx[0]; |
| 12723 | xx[986] = xx[0]; |
| 12724 | xx[987] = xx[0]; |
| 12725 | xx[988] = xx[0]; |
| 12726 | xx[989] = xx[0]; |
| 12727 | xx[990] = xx[0]; |
| 12728 | xx[991] = xx[0]; |
| 12729 | xx[992] = xx[0]; |
| 12730 | xx[993] = xx[0]; |
| 12731 | xx[994] = xx[0]; |
| 12732 | xx[995] = xx[334] + (xx[345] * xx[14] + xx[351]) * xx[80]; |
| 12733 | xx[996] = xx[358] + xx[364]; |
| 12734 | xx[997] = xx[367] + xx[348]; |
| 12735 | xx[998] = xx[361] + xx[322]; |
| 12736 | xx[999] = xx[372] + xx[377]; |
| 12737 | xx[1000] = xx[382] + xx[337]; |
| 12738 | xx[1001] = xx[385] + xx[318]; |
| 12739 | xx[1002] = xx[340] + xx[391]; |
| 12740 | xx[1003] = xx[0]; |
| 12741 | xx[1004] = (xx[352] * xx[255] + xx[394]) * xx[80] + xx[388]; |
| 12742 | xx[1005] = xx[0]; |
| 12743 | xx[1006] = xx[0]; |
| 12744 | xx[1007] = xx[0]; |
| 12745 | xx[1008] = - (xx[397] + (xx[315] * xx[417] + xx[423]) * xx[80]); |
| 12746 | xx[1009] = - (xx[420] + xx[437]); |
| 12747 | xx[1010] = - (xx[434] + xx[404]); |
| 12748 | xx[1011] = - ((xx[428] * xx[251] + xx[443]) * xx[80] + xx[440]); |
| 12749 | xx[1012] = xx[0]; |
| 12750 | xx[1013] = xx[0]; |
| 12751 | xx[1014] = xx[0]; |
| 12752 | xx[1015] = xx[0]; |
| 12753 | xx[1016] = xx[0]; |
| 12754 | xx[1017] = xx[0]; |
| 12755 | xx[1018] = xx[0]; |
| 12756 | xx[1019] = xx[0]; |
| 12757 | xx[1020] = xx[0]; |
| 12758 | xx[1021] = xx[0]; |
| 12759 | xx[1022] = xx[0]; |
| 12760 | xx[1023] = xx[0]; |
| 12761 | xx[1024] = xx[0]; |
| 12762 | xx[1025] = xx[0]; |
| 12763 | xx[1026] = xx[0]; |
| 12764 | xx[1027] = xx[0]; |
| 12765 | xx[1028] = xx[464] + xx[476] + xx[80] * (xx[482] - xx[474] * xx[14]); |
| 12766 | xx[1029] = xx[489] + xx[495]; |
| 12767 | xx[1030] = xx[498] + xx[479]; |
| 12768 | xx[1031] = xx[492] + xx[452]; |
| 12769 | xx[1032] = xx[503] + xx[508]; |
| 12770 | xx[1033] = xx[513] + xx[470]; |
| 12771 | xx[1034] = xx[516] + xx[448]; |
| 12772 | xx[1035] = xx[519] + xx[459]; |
| 12773 | xx[1036] = xx[0]; |
| 12774 | xx[1037] = xx[0]; |
| 12775 | xx[1038] = xx[80] * (xx[525] - xx[485] * xx[369]) + xx[522] + xx[73]; |
| 12776 | xx[1039] = xx[0]; |
| 12777 | xx[1040] = xx[0]; |
| 12778 | xx[1041] = xx[0]; |
| 12779 | xx[1042] = xx[0]; |
| 12780 | xx[1043] = xx[0]; |
| 12781 | xx[1044] = xx[0]; |
| 12782 | xx[1045] = xx[0]; |
| 12783 | xx[1046] = xx[0]; |
| 12784 | xx[1047] = xx[0]; |
| 12785 | xx[1048] = xx[0]; |
| 12786 | xx[1049] = - (xx[528] + xx[550] + xx[80] * (xx[560] + xx[501] * xx[531])); |
| 12787 | xx[1050] = - (xx[557] + xx[574]); |
| 12788 | xx[1051] = - (xx[571] + xx[540]); |
| 12789 | xx[1052] = - (xx[80] * (xx[580] - xx[567] * xx[323]) + xx[577] - xx[123]); |
| 12790 | xx[1053] = xx[0]; |
| 12791 | xx[1054] = xx[0]; |
| 12792 | xx[1055] = xx[0]; |
| 12793 | xx[1056] = xx[0]; |
| 12794 | xx[1057] = xx[0]; |
| 12795 | xx[1058] = xx[0]; |
| 12796 | xx[1059] = xx[0]; |
| 12797 | xx[1060] = xx[0]; |
| 12798 | xx[1061] = xx[465] + xx[477] + (xx[475] * xx[14] + xx[483]) * xx[80]; |
| 12799 | xx[1062] = xx[490] + xx[496]; |
| 12800 | xx[1063] = xx[499] + xx[480]; |
| 12801 | xx[1064] = xx[493] + xx[453]; |
| 12802 | xx[1065] = xx[504] + xx[509]; |
| 12803 | xx[1066] = xx[514] + xx[471]; |
| 12804 | xx[1067] = xx[517] + xx[449]; |
| 12805 | xx[1068] = xx[520] + xx[460]; |
| 12806 | xx[1069] = xx[0]; |
| 12807 | xx[1070] = xx[0]; |
| 12808 | xx[1071] = (xx[73] * xx[485] * xx[488] + xx[526]) * xx[80] + xx[523] + xx[72]; |
| 12809 | xx[1072] = xx[0]; |
| 12810 | xx[1073] = xx[0]; |
| 12811 | xx[1074] = xx[0]; |
| 12812 | xx[1075] = xx[0]; |
| 12813 | xx[1076] = xx[0]; |
| 12814 | xx[1077] = xx[0]; |
| 12815 | xx[1078] = xx[0]; |
| 12816 | xx[1079] = xx[0]; |
| 12817 | xx[1080] = xx[0]; |
| 12818 | xx[1081] = xx[0]; |
| 12819 | xx[1082] = - (xx[529] + xx[555] + (xx[561] - xx[501] * xx[549]) * xx[80]); |
| 12820 | xx[1083] = - (xx[558] + xx[575]); |
| 12821 | xx[1084] = - (xx[572] + xx[541]); |
| 12822 | xx[1085] = - ((xx[581] - xx[123] * xx[567] * xx[570]) * xx[80] + xx[578] + xx |
| 12823 | [102]); |
| 12824 | xx[1086] = xx[0]; |
| 12825 | xx[1087] = xx[0]; |
| 12826 | xx[1088] = xx[0]; |
| 12827 | xx[1089] = xx[0]; |
| 12828 | xx[1090] = xx[0]; |
| 12829 | xx[1091] = xx[0]; |
| 12830 | xx[1092] = xx[0]; |
| 12831 | xx[1093] = xx[0]; |
| 12832 | xx[1094] = xx[466] + (xx[14] * xx[478] + xx[484]) * xx[80]; |
| 12833 | xx[1095] = xx[491] + xx[497]; |
| 12834 | xx[1096] = xx[500] + xx[481]; |
| 12835 | xx[1097] = xx[494] + xx[454]; |
| 12836 | xx[1098] = xx[505] + xx[510]; |
| 12837 | xx[1099] = xx[515] + xx[472]; |
| 12838 | xx[1100] = xx[518] + xx[450]; |
| 12839 | xx[1101] = xx[521] + xx[461]; |
| 12840 | xx[1102] = xx[0]; |
| 12841 | xx[1103] = xx[0]; |
| 12842 | xx[1104] = (xx[485] * xx[405] + xx[527]) * xx[80] + xx[524]; |
| 12843 | xx[1105] = xx[0]; |
| 12844 | xx[1106] = xx[0]; |
| 12845 | xx[1107] = xx[0]; |
| 12846 | xx[1108] = xx[0]; |
| 12847 | xx[1109] = xx[0]; |
| 12848 | xx[1110] = xx[0]; |
| 12849 | xx[1111] = xx[0]; |
| 12850 | xx[1112] = xx[0]; |
| 12851 | xx[1113] = xx[0]; |
| 12852 | xx[1114] = xx[0]; |
| 12853 | xx[1115] = - (xx[530] + (xx[501] * xx[556] + xx[562]) * xx[80]); |
| 12854 | xx[1116] = - (xx[559] + xx[576]); |
| 12855 | xx[1117] = - (xx[573] + xx[542]); |
| 12856 | xx[1118] = - ((xx[567] * xx[444] + xx[582]) * xx[80] + xx[579]); |
| 12857 | xx[1119] = xx[0]; |
| 12858 | xx[1120] = xx[0]; |
| 12859 | xx[1121] = xx[0]; |
| 12860 | xx[1122] = xx[0]; |
| 12861 | xx[1123] = xx[0]; |
| 12862 | xx[1124] = xx[0]; |
| 12863 | xx[1125] = xx[0]; |
| 12864 | xx[1126] = xx[0]; |
| 12865 | xx[1127] = xx[537] + xx[613] + xx[80] * (xx[618] - xx[611] * xx[14]); |
| 12866 | xx[1128] = xx[625] + xx[631]; |
| 12867 | xx[1129] = xx[634] + xx[615]; |
| 12868 | xx[1130] = xx[628] + xx[591]; |
| 12869 | xx[1131] = xx[639] + xx[644]; |
| 12870 | xx[1132] = xx[649] + xx[605]; |
| 12871 | xx[1133] = xx[652] + xx[587]; |
| 12872 | xx[1134] = xx[655] + xx[598]; |
| 12873 | xx[1135] = xx[0]; |
| 12874 | xx[1136] = xx[0]; |
| 12875 | xx[1137] = xx[0]; |
| 12876 | xx[1138] = xx[80] * (xx[661] - xx[621] * xx[543]) + xx[658] + xx[73]; |
| 12877 | xx[1139] = xx[0]; |
| 12878 | xx[1140] = xx[0]; |
| 12879 | xx[1141] = xx[0]; |
| 12880 | xx[1142] = xx[0]; |
| 12881 | xx[1143] = xx[0]; |
| 12882 | xx[1144] = xx[0]; |
| 12883 | xx[1145] = xx[0]; |
| 12884 | xx[1146] = xx[0]; |
| 12885 | xx[1147] = xx[0]; |
| 12886 | xx[1148] = xx[0]; |
| 12887 | xx[1149] = xx[0]; |
| 12888 | xx[1150] = xx[0]; |
| 12889 | xx[1151] = xx[0]; |
| 12890 | xx[1152] = - (xx[664] + xx[687] + xx[80] * (xx[697] - xx[638] * xx[667])); |
| 12891 | xx[1153] = - (xx[694] + xx[711]); |
| 12892 | xx[1154] = - (xx[708] + xx[677]); |
| 12893 | xx[1155] = - (xx[80] * (xx[717] - xx[704] * xx[447]) + xx[714] - xx[123]); |
| 12894 | xx[1156] = xx[0]; |
| 12895 | xx[1157] = xx[0]; |
| 12896 | xx[1158] = xx[0]; |
| 12897 | xx[1159] = xx[0]; |
| 12898 | xx[1160] = xx[538] + xx[610] + (xx[612] * xx[14] + xx[619]) * xx[80]; |
| 12899 | xx[1161] = xx[626] + xx[632]; |
| 12900 | xx[1162] = xx[635] + xx[616]; |
| 12901 | xx[1163] = xx[629] + xx[592]; |
| 12902 | xx[1164] = xx[640] + xx[645]; |
| 12903 | xx[1165] = xx[650] + xx[606]; |
| 12904 | xx[1166] = xx[653] + xx[588]; |
| 12905 | xx[1167] = xx[656] + xx[599]; |
| 12906 | xx[1168] = xx[0]; |
| 12907 | xx[1169] = xx[0]; |
| 12908 | xx[1170] = xx[0]; |
| 12909 | xx[1171] = (xx[73] * xx[621] * xx[624] + xx[662]) * xx[80] + xx[659] + xx[72]; |
| 12910 | xx[1172] = xx[0]; |
| 12911 | xx[1173] = xx[0]; |
| 12912 | xx[1174] = xx[0]; |
| 12913 | xx[1175] = xx[0]; |
| 12914 | xx[1176] = xx[0]; |
| 12915 | xx[1177] = xx[0]; |
| 12916 | xx[1178] = xx[0]; |
| 12917 | xx[1179] = xx[0]; |
| 12918 | xx[1180] = xx[0]; |
| 12919 | xx[1181] = xx[0]; |
| 12920 | xx[1182] = xx[0]; |
| 12921 | xx[1183] = xx[0]; |
| 12922 | xx[1184] = xx[0]; |
| 12923 | xx[1185] = - (xx[665] + xx[692] + (xx[638] * xx[686] + xx[698]) * xx[80]); |
| 12924 | xx[1186] = - (xx[695] + xx[712]); |
| 12925 | xx[1187] = - (xx[709] + xx[678]); |
| 12926 | xx[1188] = - ((xx[718] - xx[123] * xx[704] * xx[707]) * xx[80] + xx[715] + xx |
| 12927 | [102]); |
| 12928 | xx[1189] = xx[0]; |
| 12929 | xx[1190] = xx[0]; |
| 12930 | xx[1191] = xx[0]; |
| 12931 | xx[1192] = xx[0]; |
| 12932 | xx[1193] = xx[539] + (xx[14] * xx[614] + xx[620]) * xx[80]; |
| 12933 | xx[1194] = xx[627] + xx[633]; |
| 12934 | xx[1195] = xx[636] + xx[617]; |
| 12935 | xx[1196] = xx[630] + xx[593]; |
| 12936 | xx[1197] = xx[641] + xx[646]; |
| 12937 | xx[1198] = xx[651] + xx[607]; |
| 12938 | xx[1199] = xx[654] + xx[589]; |
| 12939 | xx[1200] = xx[657] + xx[600]; |
| 12940 | xx[1201] = xx[0]; |
| 12941 | xx[1202] = xx[0]; |
| 12942 | xx[1203] = xx[0]; |
| 12943 | xx[1204] = (xx[621] * xx[586] + xx[663]) * xx[80] + xx[660]; |
| 12944 | xx[1205] = xx[0]; |
| 12945 | xx[1206] = xx[0]; |
| 12946 | xx[1207] = xx[0]; |
| 12947 | xx[1208] = xx[0]; |
| 12948 | xx[1209] = xx[0]; |
| 12949 | xx[1210] = xx[0]; |
| 12950 | xx[1211] = xx[0]; |
| 12951 | xx[1212] = xx[0]; |
| 12952 | xx[1213] = xx[0]; |
| 12953 | xx[1214] = xx[0]; |
| 12954 | xx[1215] = xx[0]; |
| 12955 | xx[1216] = xx[0]; |
| 12956 | xx[1217] = xx[0]; |
| 12957 | xx[1218] = - (xx[666] + (xx[699] - xx[638] * xx[693]) * xx[80]); |
| 12958 | xx[1219] = - (xx[696] + xx[713]); |
| 12959 | xx[1220] = - (xx[710] + xx[679]); |
| 12960 | xx[1221] = - ((xx[704] * xx[583] + xx[719]) * xx[80] + xx[716]); |
| 12961 | xx[1222] = - (xx[724] + xx[749] + xx[80] * (xx[760] + xx[721] * xx[727])); |
| 12962 | xx[1223] = - (xx[757] + xx[774]); |
| 12963 | xx[1224] = - (xx[771] + xx[739]); |
| 12964 | xx[1225] = - (xx[80] * (xx[780] - xx[767] * xx[585]) + xx[777] - xx[123]); |
| 12965 | xx[1226] = xx[17] + xx[800] + xx[80] * (xx[804] - xx[120] * xx[14]); |
| 12966 | xx[1227] = xx[811] + xx[170]; |
| 12967 | xx[1228] = xx[814] + xx[182]; |
| 12968 | xx[1229] = xx[35] + xx[50]; |
| 12969 | xx[1230] = xx[68] + xx[734]; |
| 12970 | xx[1231] = xx[801] + xx[817]; |
| 12971 | xx[1232] = xx[807] + xx[46]; |
| 12972 | xx[1233] = xx[797] + xx[783]; |
| 12973 | xx[1234] = xx[0]; |
| 12974 | xx[1235] = xx[0]; |
| 12975 | xx[1236] = xx[0]; |
| 12976 | xx[1237] = xx[0]; |
| 12977 | xx[1238] = xx[80] * (xx[823] - xx[11] * xx[31]) + xx[16] + xx[80] * (xx[75] + |
| 12978 | xx[191] * xx[34]) + xx[73]; |
| 12979 | xx[1239] = xx[0]; |
| 12980 | xx[1240] = xx[0]; |
| 12981 | xx[1241] = xx[0]; |
| 12982 | xx[1242] = xx[0]; |
| 12983 | xx[1243] = xx[0]; |
| 12984 | xx[1244] = xx[0]; |
| 12985 | xx[1245] = xx[0]; |
| 12986 | xx[1246] = xx[0]; |
| 12987 | xx[1247] = xx[0]; |
| 12988 | xx[1248] = xx[0]; |
| 12989 | xx[1249] = xx[0]; |
| 12990 | xx[1250] = xx[0]; |
| 12991 | xx[1251] = xx[0]; |
| 12992 | xx[1252] = xx[0]; |
| 12993 | xx[1253] = xx[0]; |
| 12994 | xx[1254] = xx[0]; |
| 12995 | xx[1255] = - (xx[725] + xx[755] + (xx[761] - xx[721] * xx[748]) * xx[80]); |
| 12996 | xx[1256] = - (xx[758] + xx[775]); |
| 12997 | xx[1257] = - (xx[772] + xx[740]); |
| 12998 | xx[1258] = - ((xx[781] - xx[123] * xx[767] * xx[770]) * xx[80] + xx[778] + xx |
| 12999 | [102]); |
| 13000 | xx[1259] = xx[18] + xx[53] + (xx[137] * xx[14] + xx[805]) * xx[80]; |
| 13001 | xx[1260] = xx[812] + xx[171]; |
| 13002 | xx[1261] = xx[815] + xx[183]; |
| 13003 | xx[1262] = xx[36] + xx[51]; |
| 13004 | xx[1263] = xx[69] + xx[735]; |
| 13005 | xx[1264] = xx[802] + xx[818]; |
| 13006 | xx[1265] = xx[808] + xx[47]; |
| 13007 | xx[1266] = xx[798] + xx[784]; |
| 13008 | xx[1267] = xx[0]; |
| 13009 | xx[1268] = xx[0]; |
| 13010 | xx[1269] = xx[0]; |
| 13011 | xx[1270] = xx[0]; |
| 13012 | xx[1271] = (xx[11] * xx[33] + xx[824]) * xx[80] - xx[23] + (xx[191] * xx[38] + |
| 13013 | xx[76]) * xx[80] + xx[72]; |
| 13014 | xx[1272] = xx[0]; |
| 13015 | xx[1273] = xx[0]; |
| 13016 | xx[1274] = xx[0]; |
| 13017 | xx[1275] = xx[0]; |
| 13018 | xx[1276] = xx[0]; |
| 13019 | xx[1277] = xx[0]; |
| 13020 | xx[1278] = xx[0]; |
| 13021 | xx[1279] = xx[0]; |
| 13022 | xx[1280] = xx[0]; |
| 13023 | xx[1281] = xx[0]; |
| 13024 | xx[1282] = xx[0]; |
| 13025 | xx[1283] = xx[0]; |
| 13026 | xx[1284] = xx[0]; |
| 13027 | xx[1285] = xx[0]; |
| 13028 | xx[1286] = xx[0]; |
| 13029 | xx[1287] = xx[0]; |
| 13030 | xx[1288] = - (xx[726] + (xx[762] - xx[721] * xx[756]) * xx[80]); |
| 13031 | xx[1289] = - (xx[759] + xx[776]); |
| 13032 | xx[1290] = - (xx[773] + xx[741]); |
| 13033 | xx[1291] = - ((xx[767] * xx[669] + xx[782]) * xx[80] + xx[779]); |
| 13034 | xx[1292] = xx[19] + (xx[796] * xx[14] + xx[806]) * xx[80]; |
| 13035 | xx[1293] = xx[813] + xx[172]; |
| 13036 | xx[1294] = xx[816] + xx[184]; |
| 13037 | xx[1295] = xx[37] + xx[52]; |
| 13038 | xx[1296] = xx[70] + xx[736]; |
| 13039 | xx[1297] = xx[803] + xx[819]; |
| 13040 | xx[1298] = xx[809] + xx[48]; |
| 13041 | xx[1299] = xx[799] + xx[785]; |
| 13042 | xx[1300] = xx[0]; |
| 13043 | xx[1301] = xx[0]; |
| 13044 | xx[1302] = xx[0]; |
| 13045 | xx[1303] = xx[0]; |
| 13046 | xx[1304] = (xx[11] * xx[27] + xx[825]) * xx[80] + (xx[77] - xx[191] * xx[39]) * |
| 13047 | xx[80]; |
| 13048 | xx[1305] = xx[0]; |
| 13049 | xx[1306] = xx[0]; |
| 13050 | xx[1307] = xx[0]; |
| 13051 | xx[1308] = xx[0]; |
| 13052 | xx[1309] = xx[0]; |
| 13053 | xx[1310] = xx[0]; |
| 13054 | xx[1311] = xx[0]; |
| 13055 | xx[1312] = xx[0]; |
| 13056 | xx[1313] = xx[0]; |
| 13057 | xx[1314] = xx[0]; |
| 13058 | xx[1315] = xx[0]; |
| 13059 | xx[1316] = xx[0]; |
| 13060 | xx[1317] = xx[0]; |
| 13061 | xx[1318] = xx[0]; |
| 13062 | xx[1319] = xx[0]; |
| 13063 | xx[1320] = xx[0]; |
| 13064 | pm_math_quatXform(xx + 220, xx + 84, xx + 16); |
| 13065 | pm_math_quatXform(xx + 191, xx + 97, xx + 31); |
| 13066 | xx[34] = - xx[107]; |
| 13067 | xx[35] = xx[109]; |
| 13068 | xx[36] = - xx[101]; |
| 13069 | pm_math_quatXform(xx + 157, xx + 34, xx + 37); |
| 13070 | xx[34] = xx[121]; |
| 13071 | xx[35] = xx[124]; |
| 13072 | xx[36] = xx[116]; |
| 13073 | pm_math_quatXform(xx + 153, xx + 34, xx + 46); |
| 13074 | pm_math_quatXform(xx + 149, xx + 132, xx + 34); |
| 13075 | xx[49] = xx[14]; |
| 13076 | xx[50] = xx[3]; |
| 13077 | xx[51] = xx[7]; |
| 13078 | xx[52] = xx[15]; |
| 13079 | xx[6] = xx[131] * xx[10] - xx[135] * xx[8]; |
| 13080 | xx[9] = 0.03194045366784892; |
| 13081 | xx[11] = 8.762500002356819e-3; |
| 13082 | xx[19] = 7.175000002356807e-3; |
| 13083 | xx[64] = xx[80] * xx[6] * xx[10] + xx[9]; |
| 13084 | xx[65] = xx[80] * xx[6] * xx[8] + xx[135]; |
| 13085 | xx[66] = xx[11] - (xx[8] * xx[19] * xx[8] + xx[19] * xx[10] * xx[10]) * xx[80]; |
| 13086 | pm_math_quatXform(xx + 49, xx + 64, xx + 68); |
| 13087 | xx[6] = 1.5875e-3; |
| 13088 | xx[8] = xx[6] * xx[7]; |
| 13089 | xx[10] = 0.02520954632904373; |
| 13090 | xx[23] = xx[3] * xx[6] - xx[15] * xx[10]; |
| 13091 | xx[27] = xx[10] * xx[7]; |
| 13092 | xx[64] = - xx[8]; |
| 13093 | xx[65] = xx[23]; |
| 13094 | xx[66] = xx[27]; |
| 13095 | pm_math_cross3(xx + 139, xx + 64, xx + 75); |
| 13096 | xx[43] = (xx[75] - xx[8] * xx[14]) * xx[80]; |
| 13097 | xx[8] = 0.04299719117889741; |
| 13098 | xx[53] = xx[37] + xx[46] + xx[34] + xx[68] - xx[43] - xx[8]; |
| 13099 | pm_math_quatXform(xx + 290, xx + 267, xx + 64); |
| 13100 | pm_math_quatXform(xx + 286, xx + 263, xx + 81); |
| 13101 | xx[91] = xx[241]; |
| 13102 | xx[92] = xx[273]; |
| 13103 | xx[93] = xx[225]; |
| 13104 | xx[94] = xx[274]; |
| 13105 | xx[58] = xx[266] * xx[118] + xx[270] * xx[226]; |
| 13106 | xx[59] = 0.03194045366071555; |
| 13107 | xx[61] = 4.000000007367204e-3; |
| 13108 | xx[71] = 2.412500007367193e-3; |
| 13109 | xx[97] = xx[80] * xx[58] * xx[226] + xx[59]; |
| 13110 | xx[98] = xx[80] * xx[58] * xx[118] - xx[266]; |
| 13111 | xx[99] = (xx[118] * xx[61] * xx[118] + xx[61] * xx[226] * xx[226]) * xx[80] - |
| 13112 | xx[71]; |
| 13113 | pm_math_quatXform(xx + 91, xx + 97, xx + 109); |
| 13114 | xx[58] = 1.587500000000011e-3; |
| 13115 | xx[78] = xx[225] * xx[58]; |
| 13116 | xx[88] = xx[10] * xx[242] + xx[58] * xx[125]; |
| 13117 | xx[89] = xx[225] * xx[10]; |
| 13118 | xx[97] = xx[78]; |
| 13119 | xx[98] = xx[88]; |
| 13120 | xx[99] = xx[89]; |
| 13121 | pm_math_cross3(xx + 275, xx + 97, xx + 132); |
| 13122 | xx[97] = (xx[241] * xx[78] + xx[132]) * xx[80]; |
| 13123 | xx[78] = 0.1417622656843958; |
| 13124 | xx[98] = (xx[23] * xx[14] + xx[76]) * xx[80]; |
| 13125 | xx[23] = 0.02992188481855372; |
| 13126 | xx[99] = xx[38] + xx[47] + xx[35] + xx[69] - xx[98] + xx[23]; |
| 13127 | xx[101] = (xx[241] * xx[88] + xx[133]) * xx[80]; |
| 13128 | xx[88] = 0.02992349485130436; |
| 13129 | xx[34] = xx[80] * (xx[77] + xx[27] * xx[14]); |
| 13130 | xx[27] = 0.1428830924490354; |
| 13131 | xx[35] = xx[39] + xx[48] + xx[36] + xx[70] - xx[34] + xx[27]; |
| 13132 | xx[36] = xx[80] * (xx[134] + xx[241] * xx[89]); |
| 13133 | xx[37] = 0.1065919054848736; |
| 13134 | pm_math_quatXform(xx + 352, xx + 84, xx + 46); |
| 13135 | pm_math_quatXform(xx + 191, xx + 329, xx + 68); |
| 13136 | pm_math_quatXform(xx + 428, xx + 267, xx + 75); |
| 13137 | pm_math_quatXform(xx + 424, xx + 406, xx + 132); |
| 13138 | xx[142] = xx[315]; |
| 13139 | xx[143] = xx[224]; |
| 13140 | xx[144] = xx[256]; |
| 13141 | xx[145] = xx[319]; |
| 13142 | xx[38] = xx[410] * xx[258] - xx[409] * xx[313]; |
| 13143 | xx[39] = 0.03194045368023388; |
| 13144 | xx[89] = 8.762499998974573e-3; |
| 13145 | xx[107] = 7.174999998974562e-3; |
| 13146 | xx[136] = xx[80] * xx[38] * xx[313] + xx[39]; |
| 13147 | xx[137] = xx[80] * xx[38] * xx[258] - xx[410]; |
| 13148 | xx[138] = xx[89] - (xx[258] * xx[107] * xx[258] + xx[107] * xx[313] * xx[313]) |
| 13149 | * xx[80]; |
| 13150 | pm_math_quatXform(xx + 142, xx + 136, xx + 146); |
| 13151 | xx[38] = xx[6] * xx[256]; |
| 13152 | xx[116] = 0.02520954632904374; |
| 13153 | xx[118] = xx[224] * xx[6] - xx[319] * xx[116]; |
| 13154 | xx[6] = xx[116] * xx[256]; |
| 13155 | xx[136] = - xx[38]; |
| 13156 | xx[137] = xx[118]; |
| 13157 | xx[138] = xx[6]; |
| 13158 | pm_math_cross3(xx + 413, xx + 136, xx + 149); |
| 13159 | xx[120] = (xx[149] - xx[38] * xx[315]) * xx[80]; |
| 13160 | xx[38] = 0.05787438452398606; |
| 13161 | xx[121] = (xx[118] * xx[315] + xx[150]) * xx[80]; |
| 13162 | xx[118] = 0.02992259737327991; |
| 13163 | xx[124] = xx[80] * (xx[151] + xx[6] * xx[315]); |
| 13164 | xx[6] = 0.1550274415345039; |
| 13165 | pm_math_quatXform(xx + 485, xx + 84, xx + 136); |
| 13166 | pm_math_quatXform(xx + 191, xx + 467, xx + 149); |
| 13167 | pm_math_quatXform(xx + 567, xx + 267, xx + 152); |
| 13168 | pm_math_quatXform(xx + 563, xx + 544, xx + 155); |
| 13169 | xx[158] = xx[501]; |
| 13170 | xx[159] = xx[400]; |
| 13171 | xx[160] = xx[451]; |
| 13172 | xx[161] = xx[551]; |
| 13173 | xx[129] = xx[547] * xx[455] - xx[548] * xx[378]; |
| 13174 | xx[130] = 0.03194045366579833; |
| 13175 | xx[162] = 3.99999999470772e-3; |
| 13176 | xx[163] = 2.412499994707708e-3; |
| 13177 | xx[170] = xx[80] * xx[129] * xx[455] + xx[130]; |
| 13178 | xx[171] = xx[80] * xx[129] * xx[378] + xx[548]; |
| 13179 | xx[172] = (xx[378] * xx[162] * xx[378] + xx[162] * xx[455] * xx[455]) * xx[80] |
| 13180 | - xx[163]; |
| 13181 | pm_math_quatXform(xx + 158, xx + 170, xx + 173); |
| 13182 | xx[129] = xx[451] * xx[58]; |
| 13183 | xx[164] = xx[10] * xx[502] - xx[58] * xx[400]; |
| 13184 | xx[166] = xx[451] * xx[10]; |
| 13185 | xx[170] = xx[129]; |
| 13186 | xx[171] = xx[164]; |
| 13187 | xx[172] = xx[166]; |
| 13188 | pm_math_cross3(xx + 552, xx + 170, xx + 179); |
| 13189 | xx[170] = (xx[501] * xx[129] + xx[179]) * xx[80]; |
| 13190 | xx[129] = 0.06304794220310322; |
| 13191 | xx[171] = (xx[501] * xx[164] + xx[180]) * xx[80]; |
| 13192 | xx[164] = 0.02992204813763048; |
| 13193 | xx[172] = xx[80] * (xx[181] + xx[501] * xx[166]); |
| 13194 | xx[166] = 0.1313039406712666; |
| 13195 | pm_math_quatXform(xx + 621, xx + 84, xx + 179); |
| 13196 | pm_math_quatXform(xx + 191, xx + 602, xx + 182); |
| 13197 | pm_math_quatXform(xx + 704, xx + 267, xx + 185); |
| 13198 | pm_math_quatXform(xx + 700, xx + 681, xx + 188); |
| 13199 | xx[202] = xx[638]; |
| 13200 | xx[203] = xx[688]; |
| 13201 | xx[204] = xx[594]; |
| 13202 | xx[205] = xx[642]; |
| 13203 | xx[195] = xx[684] * xx[608] - xx[685] * xx[507]; |
| 13204 | xx[196] = 0.03194045367079622; |
| 13205 | xx[197] = 3.999999996613603e-3; |
| 13206 | xx[206] = 2.412499996613564e-3; |
| 13207 | xx[207] = xx[80] * xx[195] * xx[608] + xx[196]; |
| 13208 | xx[208] = xx[80] * xx[195] * xx[507] + xx[685]; |
| 13209 | xx[209] = (xx[507] * xx[197] * xx[507] + xx[197] * xx[608] * xx[608]) * xx[80] |
| 13210 | - xx[206]; |
| 13211 | pm_math_quatXform(xx + 202, xx + 207, xx + 210); |
| 13212 | xx[195] = 1.587499999999983e-3; |
| 13213 | xx[207] = xx[594] * xx[195]; |
| 13214 | xx[208] = xx[195] * xx[536] - xx[10] * xx[642]; |
| 13215 | xx[195] = xx[594] * xx[10]; |
| 13216 | xx[213] = xx[207]; |
| 13217 | xx[214] = xx[208]; |
| 13218 | xx[215] = xx[195]; |
| 13219 | pm_math_cross3(xx + 689, xx + 213, xx + 216); |
| 13220 | xx[209] = (xx[638] * xx[207] + xx[216]) * xx[80]; |
| 13221 | xx[207] = 0.1240382406650065; |
| 13222 | xx[213] = (xx[638] * xx[208] + xx[217]) * xx[80]; |
| 13223 | xx[208] = 0.02992151662180351; |
| 13224 | xx[214] = xx[80] * (xx[218] + xx[638] * xx[195]); |
| 13225 | xx[195] = 0.04996916497694619; |
| 13226 | pm_math_quatXform(xx + 198, xx + 84, xx + 215); |
| 13227 | pm_math_quatXform(xx + 191, xx + 792, xx + 198); |
| 13228 | pm_math_quatXform(xx + 767, xx + 267, xx + 191); |
| 13229 | pm_math_quatXform(xx + 763, xx + 743, xx + 218); |
| 13230 | xx[226] = xx[721]; |
| 13231 | xx[227] = xx[750]; |
| 13232 | xx[228] = xx[675]; |
| 13233 | xx[229] = xx[751]; |
| 13234 | xx[194] = 0.03194045367870467; |
| 13235 | xx[201] = xx[747] * xx[590] + xx[746] * xx[676]; |
| 13236 | xx[221] = 4.0000000045273e-3; |
| 13237 | xx[222] = 2.412500004527289e-3; |
| 13238 | xx[230] = xx[194] - xx[80] * xx[201] * xx[676]; |
| 13239 | xx[231] = xx[747] - xx[80] * xx[201] * xx[590]; |
| 13240 | xx[232] = (xx[590] * xx[221] * xx[590] + xx[221] * xx[676] * xx[676]) * xx[80] |
| 13241 | - xx[222]; |
| 13242 | pm_math_quatXform(xx + 226, xx + 230, xx + 233); |
| 13243 | xx[201] = xx[675] * xx[58]; |
| 13244 | xx[223] = xx[10] * xx[722] + xx[58] * xx[647]; |
| 13245 | xx[58] = xx[675] * xx[10]; |
| 13246 | xx[230] = xx[201]; |
| 13247 | xx[231] = xx[223]; |
| 13248 | xx[232] = xx[58]; |
| 13249 | pm_math_cross3(xx + 752, xx + 230, xx + 236); |
| 13250 | xx[230] = (xx[721] * xx[201] + xx[236]) * xx[80]; |
| 13251 | xx[201] = 0.1816563790182656; |
| 13252 | xx[231] = (xx[721] * xx[223] + xx[237]) * xx[80]; |
| 13253 | xx[223] = 0.02992367610368172; |
| 13254 | xx[232] = xx[80] * (xx[238] + xx[721] * xx[58]); |
| 13255 | xx[58] = 0.01321939793971065; |
| 13256 | xx[329] = - (xx[16] + xx[31] + xx[53] - (xx[64] + xx[81] + xx[109] - xx[97]) - |
| 13257 | xx[78]); |
| 13258 | xx[330] = - (xx[17] + xx[32] + xx[99] - (xx[65] + xx[82] + xx[110] - xx[101]) |
| 13259 | - xx[88]); |
| 13260 | xx[331] = - (xx[18] + xx[33] + xx[35] - (xx[66] + xx[83] + xx[111] - xx[36]) + |
| 13261 | xx[37]); |
| 13262 | xx[332] = - (xx[46] + xx[68] + xx[53] - (xx[75] + xx[132] + xx[146] - xx[120]) |
| 13263 | - xx[38]); |
| 13264 | xx[333] = - (xx[47] + xx[69] + xx[99] - (xx[76] + xx[133] + xx[147] - xx[121]) |
| 13265 | - xx[118]); |
| 13266 | xx[334] = - (xx[48] + xx[70] + xx[35] - (xx[77] + xx[134] + xx[148] - xx[124]) |
| 13267 | - xx[6]); |
| 13268 | xx[335] = - (xx[136] + xx[149] + xx[53] - (xx[152] + xx[155] + xx[173] - xx |
| 13269 | [170]) + xx[129]); |
| 13270 | xx[336] = - (xx[137] + xx[150] + xx[99] - (xx[153] + xx[156] + xx[174] - xx |
| 13271 | [171]) - xx[164]); |
| 13272 | xx[337] = - (xx[138] + xx[151] + xx[35] - (xx[154] + xx[157] + xx[175] - xx |
| 13273 | [172]) + xx[166]); |
| 13274 | xx[338] = - (xx[179] + xx[182] + xx[53] - (xx[185] + xx[188] + xx[210] - xx |
| 13275 | [209]) + xx[207]); |
| 13276 | xx[339] = - (xx[180] + xx[183] + xx[99] - (xx[186] + xx[189] + xx[211] - xx |
| 13277 | [213]) - xx[208]); |
| 13278 | xx[340] = - (xx[181] + xx[184] + xx[35] - (xx[187] + xx[190] + xx[212] - xx |
| 13279 | [214]) + xx[195]); |
| 13280 | xx[341] = - (xx[215] + xx[198] + xx[53] - (xx[191] + xx[218] + xx[233] - xx |
| 13281 | [230]) - xx[201]); |
| 13282 | xx[342] = - (xx[216] + xx[199] + xx[99] - (xx[192] + xx[219] + xx[234] - xx |
| 13283 | [231]) - xx[223]); |
| 13284 | xx[343] = - (xx[217] + xx[200] + xx[35] - (xx[193] + xx[220] + xx[235] - xx |
| 13285 | [232]) + xx[58]); |
| 13286 | xx[16] = 1.0e-8; |
| 13287 | memcpy(xx + 1321, xx + 826, 495 * sizeof(double)); |
| 13288 | factorAndSolveWide(15, 33, xx + 1321, xx + 179, xx + 344, ii + 0, xx + 329, |
| 13289 | xx[16], xx + 755); |
| 13290 | xx[17] = state[14] + xx[755]; |
| 13291 | xx[18] = state[25] + xx[759]; |
| 13292 | xx[31] = xx[18] * xx[2]; |
| 13293 | xx[32] = cos(xx[31]); |
| 13294 | xx[33] = xx[3] * xx[32]; |
| 13295 | xx[35] = sin(xx[31]); |
| 13296 | xx[31] = xx[35] * xx[7]; |
| 13297 | xx[46] = - (xx[32] * xx[14] + xx[15] * xx[35]); |
| 13298 | xx[47] = xx[35] * xx[14] - xx[15] * xx[32]; |
| 13299 | xx[48] = xx[3] * xx[35] + xx[32] * xx[7]; |
| 13300 | xx[146] = xx[33] - xx[31]; |
| 13301 | xx[147] = xx[46]; |
| 13302 | xx[148] = xx[47]; |
| 13303 | xx[149] = xx[48]; |
| 13304 | xx[150] = xx[26]; |
| 13305 | xx[151] = xx[29]; |
| 13306 | xx[152] = xx[28]; |
| 13307 | xx[153] = xx[24]; |
| 13308 | pm_math_quatDeriv(xx + 150, xx + 760, xx + 154); |
| 13309 | xx[53] = xx[24] + xx[157]; |
| 13310 | xx[24] = xx[26] + xx[154]; |
| 13311 | xx[26] = xx[29] + xx[155]; |
| 13312 | xx[29] = xx[28] + xx[156]; |
| 13313 | xx[28] = 1.0e-64; |
| 13314 | xx[64] = sqrt(xx[24] * xx[24] + xx[26] * xx[26] + xx[29] * xx[29] + xx[53] * |
| 13315 | xx[53]); |
| 13316 | if (xx[28] > xx[64]) |
| 13317 | xx[64] = xx[28]; |
| 13318 | xx[65] = xx[53] / xx[64]; |
| 13319 | xx[53] = xx[24] / xx[64]; |
| 13320 | xx[24] = xx[21] * xx[65] - xx[25] * xx[53]; |
| 13321 | xx[66] = xx[29] / xx[64]; |
| 13322 | xx[29] = xx[26] / xx[64]; |
| 13323 | xx[26] = xx[21] * xx[66] + xx[25] * xx[29]; |
| 13324 | xx[64] = - xx[26]; |
| 13325 | xx[68] = xx[25] * xx[66] - xx[21] * xx[29]; |
| 13326 | xx[69] = - xx[68]; |
| 13327 | xx[70] = xx[21] * xx[53] + xx[25] * xx[65]; |
| 13328 | xx[75] = - xx[70]; |
| 13329 | xx[150] = xx[24]; |
| 13330 | xx[151] = xx[64]; |
| 13331 | xx[152] = xx[69]; |
| 13332 | xx[153] = xx[75]; |
| 13333 | xx[154] = xx[42]; |
| 13334 | xx[155] = xx[45]; |
| 13335 | xx[156] = xx[44]; |
| 13336 | xx[157] = xx[40]; |
| 13337 | pm_math_quatDeriv(xx + 154, xx + 763, xx + 179); |
| 13338 | xx[76] = xx[40] + xx[182]; |
| 13339 | xx[40] = xx[42] + xx[179]; |
| 13340 | xx[42] = xx[45] + xx[180]; |
| 13341 | xx[45] = xx[44] + xx[181]; |
| 13342 | xx[44] = sqrt(xx[40] * xx[40] + xx[42] * xx[42] + xx[45] * xx[45] + xx[76] * |
| 13343 | xx[76]); |
| 13344 | if (xx[28] > xx[44]) |
| 13345 | xx[44] = xx[28]; |
| 13346 | xx[77] = xx[76] / xx[44]; |
| 13347 | xx[76] = xx[40] / xx[44]; |
| 13348 | xx[40] = xx[25] * xx[77] - xx[41] * xx[76]; |
| 13349 | xx[81] = xx[45] / xx[44]; |
| 13350 | xx[45] = xx[42] / xx[44]; |
| 13351 | xx[42] = xx[25] * xx[81] - xx[41] * xx[45]; |
| 13352 | xx[44] = xx[41] * xx[81] + xx[25] * xx[45]; |
| 13353 | xx[82] = - xx[44]; |
| 13354 | xx[83] = xx[41] * xx[77] + xx[25] * xx[76]; |
| 13355 | xx[99] = - xx[83]; |
| 13356 | xx[154] = xx[40]; |
| 13357 | xx[155] = xx[42]; |
| 13358 | xx[156] = xx[82]; |
| 13359 | xx[157] = xx[99]; |
| 13360 | xx[109] = state[43] + xx[767]; |
| 13361 | xx[110] = xx[109] * xx[2]; |
| 13362 | xx[111] = cos(xx[110]); |
| 13363 | xx[132] = state[41] + xx[766]; |
| 13364 | xx[133] = xx[132] * xx[2]; |
| 13365 | xx[134] = sin(xx[133]); |
| 13366 | xx[136] = xx[57] * xx[134]; |
| 13367 | xx[137] = xx[56] * xx[136]; |
| 13368 | xx[138] = xx[63] * xx[134]; |
| 13369 | xx[134] = xx[62] * xx[138]; |
| 13370 | xx[173] = cos(xx[133]); |
| 13371 | xx[133] = xx[62] * xx[173]; |
| 13372 | xx[174] = xx[137] + xx[134] - xx[133]; |
| 13373 | xx[175] = sin(xx[110]); |
| 13374 | xx[110] = xx[134] + xx[133] + xx[137]; |
| 13375 | xx[133] = xx[111] * xx[174] + xx[175] * xx[110]; |
| 13376 | xx[134] = xx[62] * xx[136]; |
| 13377 | xx[136] = xx[56] * xx[173]; |
| 13378 | xx[137] = xx[56] * xx[138]; |
| 13379 | xx[138] = xx[134] + xx[136] - xx[137]; |
| 13380 | xx[173] = xx[136] - xx[134] + xx[137]; |
| 13381 | xx[134] = xx[138] * xx[111] - xx[175] * xx[173]; |
| 13382 | xx[136] = xx[111] * xx[173] + xx[138] * xx[175]; |
| 13383 | xx[137] = xx[111] * xx[110] - xx[175] * xx[174]; |
| 13384 | xx[179] = xx[133]; |
| 13385 | xx[180] = xx[134]; |
| 13386 | xx[181] = xx[136]; |
| 13387 | xx[182] = xx[137]; |
| 13388 | pm_math_quatCompose(xx + 154, xx + 179, xx + 183); |
| 13389 | pm_math_quatCompose(xx + 150, xx + 183, xx + 187); |
| 13390 | pm_math_quatCompose(xx + 146, xx + 187, xx + 215); |
| 13391 | xx[191] = xx[80] * (xx[188] * xx[190] - xx[187] * xx[189]); |
| 13392 | xx[192] = (xx[187] * xx[188] + xx[189] * xx[190]) * xx[80]; |
| 13393 | xx[193] = xx[22] - (xx[188] * xx[188] + xx[189] * xx[189]) * xx[80]; |
| 13394 | pm_math_cross3(xx + 191, xx + 84, xx + 187); |
| 13395 | pm_math_quatXform(xx + 215, xx + 187, xx + 190); |
| 13396 | xx[215] = xx[174]; |
| 13397 | xx[216] = xx[138]; |
| 13398 | xx[217] = xx[173]; |
| 13399 | xx[218] = xx[110]; |
| 13400 | xx[187] = xx[87] * xx[175]; |
| 13401 | xx[188] = xx[111] * xx[187]; |
| 13402 | xx[189] = xx[90] * xx[175]; |
| 13403 | xx[193] = xx[189] * xx[175]; |
| 13404 | xx[198] = xx[79] + xx[80] * (xx[188] + xx[193]) - xx[90]; |
| 13405 | xx[199] = xx[187] * xx[175]; |
| 13406 | xx[187] = xx[111] * xx[189]; |
| 13407 | xx[189] = xx[87] - (xx[199] - xx[187]) * xx[80]; |
| 13408 | xx[210] = - xx[198]; |
| 13409 | xx[211] = - xx[189]; |
| 13410 | xx[212] = xx[96]; |
| 13411 | pm_math_quatXform(xx + 215, xx + 210, xx + 233); |
| 13412 | xx[200] = xx[105] * xx[173]; |
| 13413 | xx[236] = xx[138]; |
| 13414 | xx[237] = xx[173]; |
| 13415 | xx[238] = xx[110]; |
| 13416 | xx[219] = xx[104] * xx[110] - xx[138] * xx[105]; |
| 13417 | xx[220] = xx[104] * xx[173]; |
| 13418 | xx[244] = xx[200]; |
| 13419 | xx[245] = xx[219]; |
| 13420 | xx[246] = - xx[220]; |
| 13421 | pm_math_cross3(xx + 236, xx + 244, xx + 258); |
| 13422 | xx[236] = xx[103] + xx[104] + (xx[200] * xx[174] + xx[258]) * xx[80]; |
| 13423 | xx[103] = xx[233] - xx[236]; |
| 13424 | xx[200] = xx[108] - (xx[174] * xx[219] + xx[259]) * xx[80]; |
| 13425 | xx[219] = xx[234] + xx[200]; |
| 13426 | xx[233] = xx[100] + xx[105] + xx[80] * (xx[260] - xx[220] * xx[174]); |
| 13427 | xx[100] = xx[235] - xx[233]; |
| 13428 | xx[244] = xx[103]; |
| 13429 | xx[245] = xx[219]; |
| 13430 | xx[246] = xx[100]; |
| 13431 | pm_math_quatXform(xx + 154, xx + 244, xx + 258); |
| 13432 | pm_math_quatXform(xx + 154, xx + 112, xx + 244); |
| 13433 | xx[220] = xx[102] + xx[244]; |
| 13434 | xx[234] = xx[258] + xx[220]; |
| 13435 | xx[235] = xx[123] + xx[245]; |
| 13436 | xx[237] = xx[259] + xx[235]; |
| 13437 | xx[238] = xx[115] + xx[246]; |
| 13438 | xx[244] = xx[260] + xx[238]; |
| 13439 | xx[245] = xx[234]; |
| 13440 | xx[246] = xx[237]; |
| 13441 | xx[247] = xx[244]; |
| 13442 | pm_math_quatXform(xx + 150, xx + 245, xx + 258); |
| 13443 | pm_math_quatXform(xx + 150, xx + 126, xx + 245); |
| 13444 | xx[248] = xx[259] + xx[246]; |
| 13445 | xx[251] = xx[258] + xx[245]; |
| 13446 | xx[255] = xx[248] * xx[35] - xx[251] * xx[32]; |
| 13447 | xx[258] = xx[131] * xx[32] + xx[135] * xx[35]; |
| 13448 | xx[259] = xx[80] * xx[258] * xx[35]; |
| 13449 | xx[260] = xx[80] * xx[35] * xx[255] - (xx[248] - xx[259]) - xx[135]; |
| 13450 | xx[248] = xx[80] * xx[258] * xx[32]; |
| 13451 | xx[258] = xx[251] + xx[80] * xx[32] * xx[255] + xx[248] - xx[131]; |
| 13452 | xx[251] = xx[15] * xx[258]; |
| 13453 | xx[255] = xx[15] * xx[260]; |
| 13454 | xx[261] = xx[3] * xx[258] - xx[260] * xx[7]; |
| 13455 | xx[263] = - xx[251]; |
| 13456 | xx[264] = xx[255]; |
| 13457 | xx[265] = xx[261]; |
| 13458 | pm_math_cross3(xx + 139, xx + 263, xx + 271); |
| 13459 | xx[283] = - (xx[31] - xx[33]); |
| 13460 | xx[284] = xx[46]; |
| 13461 | xx[285] = xx[47]; |
| 13462 | xx[286] = xx[48]; |
| 13463 | pm_math_quatCompose(xx + 283, xx + 150, xx + 287); |
| 13464 | pm_math_quatCompose(xx + 287, xx + 183, xx + 291); |
| 13465 | xx[31] = xx[4] * xx[186]; |
| 13466 | xx[33] = xx[4] * xx[184] + xx[185]; |
| 13467 | xx[46] = xx[31]; |
| 13468 | xx[47] = xx[186]; |
| 13469 | xx[48] = - xx[33]; |
| 13470 | pm_math_cross3(xx + 184, xx + 46, xx + 263); |
| 13471 | xx[46] = xx[183] * xx[186]; |
| 13472 | xx[300] = xx[22] + (xx[263] - xx[183] * xx[31]) * xx[80]; |
| 13473 | xx[301] = xx[80] * (xx[264] - xx[46]) - xx[4]; |
| 13474 | xx[302] = xx[80] * (xx[265] + xx[183] * xx[33]); |
| 13475 | pm_math_cross3(xx + 300, xx + 84, xx + 263); |
| 13476 | pm_math_quatXform(xx + 291, xx + 263, xx + 300); |
| 13477 | xx[33] = - (xx[244] * xx[4]); |
| 13478 | xx[263] = xx[33]; |
| 13479 | xx[264] = - xx[244]; |
| 13480 | xx[265] = xx[237] + xx[234] * xx[4]; |
| 13481 | pm_math_quatXform(xx + 150, xx + 263, xx + 303); |
| 13482 | pm_math_quatXform(xx + 150, xx + 167, xx + 263); |
| 13483 | xx[306] = xx[303] + xx[263]; |
| 13484 | xx[307] = xx[304] + xx[264]; |
| 13485 | xx[308] = xx[305] + xx[265]; |
| 13486 | pm_math_quatXform(xx + 283, xx + 306, xx + 303); |
| 13487 | xx[47] = xx[184] - xx[4] * xx[185]; |
| 13488 | xx[306] = - xx[186]; |
| 13489 | xx[307] = xx[31]; |
| 13490 | xx[308] = xx[47]; |
| 13491 | pm_math_cross3(xx + 184, xx + 306, xx + 309); |
| 13492 | xx[306] = xx[4] + (xx[46] + xx[309]) * xx[80]; |
| 13493 | xx[307] = xx[22] + xx[80] * (xx[310] - xx[4] * xx[46]); |
| 13494 | xx[308] = xx[80] * (xx[311] - xx[183] * xx[47]); |
| 13495 | pm_math_cross3(xx + 306, xx + 84, xx + 46); |
| 13496 | pm_math_quatXform(xx + 291, xx + 46, xx + 306); |
| 13497 | xx[46] = xx[244]; |
| 13498 | xx[47] = xx[33]; |
| 13499 | xx[48] = xx[237] * xx[4] - xx[234]; |
| 13500 | pm_math_quatXform(xx + 150, xx + 46, xx + 309); |
| 13501 | pm_math_quatXform(xx + 150, xx + 176, xx + 46); |
| 13502 | xx[316] = xx[309] + xx[46]; |
| 13503 | xx[317] = xx[310] + xx[47]; |
| 13504 | xx[318] = xx[311] + xx[48]; |
| 13505 | pm_math_quatXform(xx + 283, xx + 316, xx + 309); |
| 13506 | xx[316] = xx[80] * (xx[184] * xx[186] - xx[183] * xx[185]); |
| 13507 | xx[317] = (xx[183] * xx[184] + xx[185] * xx[186]) * xx[80]; |
| 13508 | xx[318] = xx[22] - (xx[184] * xx[184] + xx[185] * xx[185]) * xx[80]; |
| 13509 | pm_math_cross3(xx + 316, xx + 84, xx + 183); |
| 13510 | pm_math_quatXform(xx + 291, xx + 183, xx + 316); |
| 13511 | xx[183] = xx[64]; |
| 13512 | xx[184] = xx[69]; |
| 13513 | xx[185] = xx[75]; |
| 13514 | xx[31] = xx[234] * xx[70]; |
| 13515 | xx[33] = xx[237] * xx[70]; |
| 13516 | xx[64] = xx[234] * xx[26] + xx[68] * xx[237]; |
| 13517 | xx[291] = xx[31]; |
| 13518 | xx[292] = xx[33]; |
| 13519 | xx[293] = - xx[64]; |
| 13520 | pm_math_cross3(xx + 183, xx + 291, xx + 294); |
| 13521 | xx[69] = xx[117] * xx[70]; |
| 13522 | xx[75] = xx[119] * xx[70]; |
| 13523 | xx[186] = xx[117] * xx[26] + xx[68] * xx[119]; |
| 13524 | xx[291] = xx[69]; |
| 13525 | xx[292] = xx[75]; |
| 13526 | xx[293] = - xx[186]; |
| 13527 | pm_math_cross3(xx + 183, xx + 291, xx + 320); |
| 13528 | xx[244] = xx[80] * (xx[320] + xx[69] * xx[24]); |
| 13529 | xx[69] = (xx[75] * xx[24] + xx[321]) * xx[80]; |
| 13530 | xx[75] = (xx[322] - xx[186] * xx[24]) * xx[80]; |
| 13531 | xx[291] = xx[80] * (xx[294] + xx[31] * xx[24]) + xx[244] - xx[237] - xx[119]; |
| 13532 | xx[292] = xx[234] + xx[80] * (xx[295] + xx[33] * xx[24]) + xx[69] + xx[117]; |
| 13533 | xx[293] = (xx[296] - xx[64] * xx[24]) * xx[80] + xx[75]; |
| 13534 | pm_math_quatXform(xx + 283, xx + 291, xx + 294); |
| 13535 | pm_math_quatCompose(xx + 287, xx + 154, xx + 320); |
| 13536 | pm_math_quatCompose(xx + 320, xx + 179, xx + 329); |
| 13537 | xx[31] = xx[136] * xx[136]; |
| 13538 | xx[33] = xx[137] * xx[137]; |
| 13539 | xx[64] = xx[136] * xx[134]; |
| 13540 | xx[179] = xx[133] * xx[137]; |
| 13541 | xx[180] = xx[133] * xx[136]; |
| 13542 | xx[181] = xx[137] * xx[134]; |
| 13543 | xx[291] = xx[22] - (xx[31] + xx[33]) * xx[80]; |
| 13544 | xx[292] = xx[80] * (xx[64] - xx[179]); |
| 13545 | xx[293] = (xx[180] + xx[181]) * xx[80]; |
| 13546 | pm_math_cross3(xx + 291, xx + 84, xx + 333); |
| 13547 | pm_math_quatXform(xx + 329, xx + 333, xx + 291); |
| 13548 | xx[333] = xx[42]; |
| 13549 | xx[334] = xx[82]; |
| 13550 | xx[335] = xx[99]; |
| 13551 | xx[82] = xx[44] * xx[219]; |
| 13552 | xx[99] = xx[83] * xx[100]; |
| 13553 | xx[182] = xx[82] + xx[99]; |
| 13554 | xx[186] = xx[219] * xx[42]; |
| 13555 | xx[234] = xx[100] * xx[42]; |
| 13556 | xx[336] = - xx[182]; |
| 13557 | xx[337] = - xx[186]; |
| 13558 | xx[338] = - xx[234]; |
| 13559 | pm_math_cross3(xx + 333, xx + 336, xx + 339); |
| 13560 | xx[237] = xx[44] * xx[73]; |
| 13561 | xx[274] = xx[83] * xx[74]; |
| 13562 | xx[278] = xx[237] - xx[274]; |
| 13563 | xx[279] = xx[73] * xx[42]; |
| 13564 | xx[313] = xx[74] * xx[42]; |
| 13565 | xx[336] = xx[278]; |
| 13566 | xx[337] = xx[279]; |
| 13567 | xx[338] = - xx[313]; |
| 13568 | pm_math_cross3(xx + 333, xx + 336, xx + 342); |
| 13569 | xx[336] = (xx[278] * xx[40] + xx[342]) * xx[80]; |
| 13570 | xx[278] = xx[80] * (xx[343] + xx[279] * xx[40]); |
| 13571 | xx[279] = (xx[344] - xx[313] * xx[40]) * xx[80]; |
| 13572 | xx[342] = xx[80] * (xx[339] - xx[182] * xx[40]) + xx[336]; |
| 13573 | xx[343] = xx[80] * (xx[340] - xx[186] * xx[40]) + xx[278] - xx[100] - xx[74]; |
| 13574 | xx[344] = xx[219] + xx[80] * (xx[341] - xx[234] * xx[40]) + xx[279] - xx[73]; |
| 13575 | pm_math_quatXform(xx + 287, xx + 342, xx + 337); |
| 13576 | xx[182] = xx[134] * xx[134]; |
| 13577 | xx[186] = xx[136] * xx[137]; |
| 13578 | xx[136] = xx[133] * xx[134]; |
| 13579 | xx[340] = (xx[179] + xx[64]) * xx[80]; |
| 13580 | xx[341] = xx[22] - (xx[33] + xx[182]) * xx[80]; |
| 13581 | xx[342] = xx[80] * (xx[186] - xx[136]); |
| 13582 | pm_math_cross3(xx + 340, xx + 84, xx + 343); |
| 13583 | pm_math_quatXform(xx + 329, xx + 343, xx + 340); |
| 13584 | xx[33] = xx[44] * xx[103]; |
| 13585 | xx[64] = xx[103] * xx[42]; |
| 13586 | xx[133] = xx[64] - xx[99]; |
| 13587 | xx[99] = xx[44] * xx[100]; |
| 13588 | xx[343] = xx[33]; |
| 13589 | xx[344] = xx[133]; |
| 13590 | xx[345] = xx[99]; |
| 13591 | pm_math_cross3(xx + 333, xx + 343, xx + 346); |
| 13592 | xx[134] = xx[44] * xx[72]; |
| 13593 | xx[137] = xx[72] * xx[42]; |
| 13594 | xx[179] = xx[274] - xx[137]; |
| 13595 | xx[234] = xx[44] * xx[74]; |
| 13596 | xx[343] = xx[134]; |
| 13597 | xx[344] = - xx[179]; |
| 13598 | xx[345] = xx[234]; |
| 13599 | pm_math_cross3(xx + 333, xx + 343, xx + 349); |
| 13600 | xx[274] = xx[80] * (xx[349] + xx[134] * xx[40]); |
| 13601 | xx[134] = xx[80] * (xx[350] - xx[179] * xx[40]); |
| 13602 | xx[179] = (xx[234] * xx[40] + xx[351]) * xx[80]; |
| 13603 | xx[343] = xx[100] + (xx[33] * xx[40] + xx[346]) * xx[80] + xx[274] + xx[74]; |
| 13604 | xx[344] = (xx[133] * xx[40] + xx[347]) * xx[80] + xx[134]; |
| 13605 | xx[345] = (xx[99] * xx[40] + xx[348]) * xx[80] + xx[179] - xx[103] - xx[72]; |
| 13606 | pm_math_quatXform(xx + 287, xx + 343, xx + 346); |
| 13607 | xx[343] = xx[80] * (xx[181] - xx[180]); |
| 13608 | xx[344] = (xx[136] + xx[186]) * xx[80]; |
| 13609 | xx[345] = xx[22] - (xx[182] + xx[31]) * xx[80]; |
| 13610 | pm_math_cross3(xx + 343, xx + 84, xx + 180); |
| 13611 | pm_math_quatXform(xx + 329, xx + 180, xx + 343); |
| 13612 | xx[31] = xx[83] * xx[103]; |
| 13613 | xx[33] = xx[83] * xx[219]; |
| 13614 | xx[99] = xx[64] - xx[82]; |
| 13615 | xx[180] = xx[31]; |
| 13616 | xx[181] = xx[33]; |
| 13617 | xx[182] = xx[99]; |
| 13618 | pm_math_cross3(xx + 333, xx + 180, xx + 329); |
| 13619 | xx[64] = xx[83] * xx[72]; |
| 13620 | xx[82] = xx[83] * xx[73]; |
| 13621 | xx[100] = xx[137] + xx[237]; |
| 13622 | xx[180] = xx[64]; |
| 13623 | xx[181] = - xx[82]; |
| 13624 | xx[182] = xx[100]; |
| 13625 | pm_math_cross3(xx + 333, xx + 180, xx + 349); |
| 13626 | xx[133] = (xx[64] * xx[40] + xx[349]) * xx[80]; |
| 13627 | xx[64] = xx[80] * (xx[350] - xx[82] * xx[40]); |
| 13628 | xx[82] = (xx[100] * xx[40] + xx[351]) * xx[80]; |
| 13629 | xx[180] = (xx[31] * xx[40] + xx[329]) * xx[80] + xx[133] - xx[219] + xx[73]; |
| 13630 | xx[181] = xx[103] + (xx[33] * xx[40] + xx[330]) * xx[80] + xx[64] + xx[72]; |
| 13631 | xx[182] = (xx[99] * xx[40] + xx[331]) * xx[80] + xx[82]; |
| 13632 | pm_math_quatXform(xx + 287, xx + 180, xx + 329); |
| 13633 | pm_math_quatCompose(xx + 320, xx + 215, xx + 349); |
| 13634 | xx[31] = xx[111] * xx[349] + xx[352] * xx[175]; |
| 13635 | xx[33] = xx[111] * xx[350] - xx[351] * xx[175]; |
| 13636 | xx[99] = xx[111] * xx[351] + xx[350] * xx[175]; |
| 13637 | xx[100] = xx[111] * xx[352] - xx[349] * xx[175]; |
| 13638 | xx[353] = xx[31]; |
| 13639 | xx[354] = xx[33]; |
| 13640 | xx[355] = xx[99]; |
| 13641 | xx[356] = xx[100]; |
| 13642 | xx[103] = xx[57] * xx[175]; |
| 13643 | xx[136] = xx[80] * xx[111] * xx[103]; |
| 13644 | xx[111] = xx[80] * xx[103] * xx[175] - xx[57]; |
| 13645 | xx[180] = xx[74] * xx[136] + xx[55]; |
| 13646 | xx[181] = xx[106] + xx[74] * xx[111]; |
| 13647 | xx[182] = xx[73] * xx[111] - xx[72] * xx[136]; |
| 13648 | pm_math_quatXform(xx + 353, xx + 180, xx + 357); |
| 13649 | xx[180] = - (xx[63] * xx[189]); |
| 13650 | xx[181] = xx[63] * xx[198] - xx[60]; |
| 13651 | xx[182] = xx[57] * xx[189]; |
| 13652 | pm_math_quatXform(xx + 215, xx + 180, xx + 360); |
| 13653 | xx[103] = xx[67] * xx[110]; |
| 13654 | xx[111] = xx[138] * xx[67]; |
| 13655 | xx[136] = xx[80] * (xx[103] * xx[174] - xx[111] * xx[173]); |
| 13656 | xx[137] = (xx[103] * xx[110] + xx[138] * xx[111]) * xx[80]; |
| 13657 | xx[175] = (xx[111] * xx[174] + xx[103] * xx[173]) * xx[80]; |
| 13658 | xx[180] = xx[360] + xx[136]; |
| 13659 | xx[181] = xx[361] + xx[137] - xx[67]; |
| 13660 | xx[182] = xx[362] - xx[175]; |
| 13661 | pm_math_quatXform(xx + 320, xx + 180, xx + 360); |
| 13662 | xx[180] = xx[33]; |
| 13663 | xx[181] = xx[99]; |
| 13664 | xx[182] = xx[100]; |
| 13665 | xx[103] = xx[72] * xx[100]; |
| 13666 | xx[111] = xx[73] * xx[100]; |
| 13667 | xx[100] = xx[72] * xx[33] - xx[99] * xx[73]; |
| 13668 | xx[363] = - xx[103]; |
| 13669 | xx[364] = xx[111]; |
| 13670 | xx[365] = xx[100]; |
| 13671 | pm_math_cross3(xx + 180, xx + 363, xx + 369); |
| 13672 | xx[33] = xx[80] * (xx[199] - xx[187]) - xx[87]; |
| 13673 | xx[99] = (xx[188] + xx[193]) * xx[80] - xx[90]; |
| 13674 | xx[180] = xx[352] * xx[99]; |
| 13675 | xx[181] = xx[33] * xx[352]; |
| 13676 | xx[182] = xx[350] * xx[99] - xx[33] * xx[351]; |
| 13677 | xx[186] = - xx[180]; |
| 13678 | xx[187] = xx[181]; |
| 13679 | xx[188] = xx[182]; |
| 13680 | pm_math_cross3(xx + 350, xx + 186, xx + 363); |
| 13681 | xx[186] = state[66] + xx[776]; |
| 13682 | xx[187] = xx[186] * xx[2]; |
| 13683 | xx[188] = cos(xx[187]); |
| 13684 | xx[189] = xx[188] * xx[125]; |
| 13685 | xx[193] = sin(xx[187]); |
| 13686 | xx[187] = xx[225] * xx[193]; |
| 13687 | xx[198] = - (xx[241] * xx[188] - xx[193] * xx[242]); |
| 13688 | xx[199] = xx[241] * xx[193] + xx[188] * xx[242]; |
| 13689 | xx[219] = xx[225] * xx[188] - xx[193] * xx[125]; |
| 13690 | xx[375] = - (xx[189] + xx[187]); |
| 13691 | xx[376] = xx[198]; |
| 13692 | xx[377] = xx[199]; |
| 13693 | xx[378] = xx[219]; |
| 13694 | xx[380] = xx[250]; |
| 13695 | xx[381] = xx[253]; |
| 13696 | xx[382] = xx[252]; |
| 13697 | xx[383] = xx[249]; |
| 13698 | pm_math_quatDeriv(xx + 380, xx + 777, xx + 384); |
| 13699 | xx[234] = xx[249] + xx[387]; |
| 13700 | xx[237] = xx[250] + xx[384]; |
| 13701 | xx[249] = xx[253] + xx[385]; |
| 13702 | xx[250] = xx[252] + xx[386]; |
| 13703 | xx[252] = sqrt(xx[237] * xx[237] + xx[249] * xx[249] + xx[250] * xx[250] + xx |
| 13704 | [234] * xx[234]); |
| 13705 | if (xx[28] > xx[252]) |
| 13706 | xx[252] = xx[28]; |
| 13707 | xx[253] = xx[234] / xx[252]; |
| 13708 | xx[234] = xx[237] / xx[252]; |
| 13709 | xx[237] = xx[21] * xx[253] - xx[25] * xx[234]; |
| 13710 | xx[313] = xx[250] / xx[252]; |
| 13711 | xx[250] = xx[249] / xx[252]; |
| 13712 | xx[249] = xx[21] * xx[313] + xx[25] * xx[250]; |
| 13713 | xx[252] = - xx[249]; |
| 13714 | xx[332] = xx[25] * xx[313] - xx[21] * xx[250]; |
| 13715 | xx[366] = - xx[332]; |
| 13716 | xx[367] = xx[21] * xx[234] + xx[25] * xx[253]; |
| 13717 | xx[372] = - xx[367]; |
| 13718 | xx[380] = xx[237]; |
| 13719 | xx[381] = xx[252]; |
| 13720 | xx[382] = xx[366]; |
| 13721 | xx[383] = xx[372]; |
| 13722 | pm_math_quatCompose(xx + 375, xx + 380, xx + 384); |
| 13723 | xx[375] = (xx[332] * xx[237] + xx[249] * xx[367]) * xx[80]; |
| 13724 | xx[376] = xx[80] * (xx[332] * xx[367] - xx[249] * xx[237]); |
| 13725 | xx[377] = xx[22] - (xx[249] * xx[249] + xx[332] * xx[332]) * xx[80]; |
| 13726 | pm_math_cross3(xx + 375, xx + 267, xx + 388); |
| 13727 | pm_math_quatXform(xx + 384, xx + 388, xx + 375); |
| 13728 | pm_math_quatXform(xx + 380, xx + 126, xx + 384); |
| 13729 | xx[378] = xx[385] * xx[193] - xx[188] * xx[384]; |
| 13730 | xx[387] = xx[266] * xx[193] - xx[270] * xx[188]; |
| 13731 | xx[388] = xx[80] * xx[193] * xx[378] - (xx[385] + xx[80] * xx[387] * xx[193]) |
| 13732 | + xx[266]; |
| 13733 | xx[389] = xx[384] + xx[80] * xx[188] * xx[378] - xx[80] * xx[387] * xx[188] - |
| 13734 | xx[270]; |
| 13735 | xx[378] = xx[389] * xx[242]; |
| 13736 | xx[387] = xx[388] * xx[242]; |
| 13737 | xx[390] = xx[389] * xx[125] + xx[225] * xx[388]; |
| 13738 | xx[391] = xx[378]; |
| 13739 | xx[392] = - xx[387]; |
| 13740 | xx[393] = - xx[390]; |
| 13741 | pm_math_cross3(xx + 275, xx + 391, xx + 394); |
| 13742 | xx[402] = - (xx[187] + xx[189]); |
| 13743 | xx[403] = xx[198]; |
| 13744 | xx[404] = xx[199]; |
| 13745 | xx[405] = xx[219]; |
| 13746 | pm_math_quatCompose(xx + 402, xx + 380, xx + 416); |
| 13747 | pm_math_quatXform(xx + 416, xx + 280, xx + 275); |
| 13748 | pm_math_quatXform(xx + 380, xx + 167, xx + 391); |
| 13749 | pm_math_quatXform(xx + 402, xx + 391, xx + 406); |
| 13750 | pm_math_quatXform(xx + 416, xx + 297, xx + 391); |
| 13751 | pm_math_quatXform(xx + 380, xx + 176, xx + 420); |
| 13752 | pm_math_quatXform(xx + 402, xx + 420, xx + 380); |
| 13753 | xx[187] = xx[102] * xx[419]; |
| 13754 | xx[189] = xx[102] * xx[417] + xx[123] * xx[418]; |
| 13755 | xx[420] = - xx[187]; |
| 13756 | xx[421] = - (xx[123] * xx[419]); |
| 13757 | xx[422] = xx[189]; |
| 13758 | pm_math_cross3(xx + 417, xx + 420, xx + 423); |
| 13759 | xx[420] = xx[252]; |
| 13760 | xx[421] = xx[366]; |
| 13761 | xx[422] = xx[372]; |
| 13762 | xx[198] = xx[117] * xx[367]; |
| 13763 | xx[199] = xx[119] * xx[367]; |
| 13764 | xx[219] = xx[117] * xx[249] + xx[332] * xx[119]; |
| 13765 | xx[426] = xx[198]; |
| 13766 | xx[427] = xx[199]; |
| 13767 | xx[428] = - xx[219]; |
| 13768 | pm_math_cross3(xx + 420, xx + 426, xx + 429); |
| 13769 | xx[420] = xx[80] * (xx[429] + xx[198] * xx[237]) - xx[119]; |
| 13770 | xx[421] = xx[117] + (xx[199] * xx[237] + xx[430]) * xx[80]; |
| 13771 | xx[422] = (xx[431] - xx[219] * xx[237]) * xx[80]; |
| 13772 | pm_math_quatXform(xx + 402, xx + 420, xx + 426); |
| 13773 | xx[198] = state[45] + xx[768]; |
| 13774 | xx[199] = xx[198] * xx[2]; |
| 13775 | xx[219] = sin(xx[199]); |
| 13776 | xx[237] = xx[62] * xx[219]; |
| 13777 | xx[249] = cos(xx[199]); |
| 13778 | xx[199] = xx[62] * xx[249]; |
| 13779 | xx[252] = xx[237] - xx[199]; |
| 13780 | xx[332] = xx[56] * xx[249]; |
| 13781 | xx[249] = xx[56] * xx[219]; |
| 13782 | xx[219] = xx[332] + xx[249]; |
| 13783 | xx[366] = - xx[219]; |
| 13784 | xx[367] = xx[249] - xx[332]; |
| 13785 | xx[249] = xx[237] + xx[199]; |
| 13786 | xx[199] = - xx[249]; |
| 13787 | xx[429] = xx[252]; |
| 13788 | xx[430] = xx[366]; |
| 13789 | xx[431] = xx[367]; |
| 13790 | xx[432] = xx[199]; |
| 13791 | pm_math_quatCompose(xx + 215, xx + 429, xx + 433); |
| 13792 | pm_math_quatCompose(xx + 154, xx + 433, xx + 437); |
| 13793 | pm_math_quatCompose(xx + 150, xx + 437, xx + 441); |
| 13794 | pm_math_quatCompose(xx + 146, xx + 441, xx + 447); |
| 13795 | xx[420] = xx[80] * (xx[442] * xx[444] - xx[441] * xx[443]); |
| 13796 | xx[421] = (xx[441] * xx[442] + xx[443] * xx[444]) * xx[80]; |
| 13797 | xx[422] = xx[22] - (xx[442] * xx[442] + xx[443] * xx[443]) * xx[80]; |
| 13798 | pm_math_cross3(xx + 420, xx + 84, xx + 441); |
| 13799 | pm_math_quatXform(xx + 447, xx + 441, xx + 420); |
| 13800 | pm_math_quatXform(xx + 429, xx + 324, xx + 441); |
| 13801 | xx[237] = xx[243] - xx[441]; |
| 13802 | xx[332] = xx[262] - xx[443]; |
| 13803 | xx[447] = xx[237]; |
| 13804 | xx[448] = - xx[442]; |
| 13805 | xx[449] = xx[332]; |
| 13806 | pm_math_quatXform(xx + 215, xx + 447, xx + 452); |
| 13807 | xx[372] = xx[452] - xx[236]; |
| 13808 | xx[383] = xx[453] + xx[200]; |
| 13809 | xx[397] = xx[454] - xx[233]; |
| 13810 | xx[452] = xx[372]; |
| 13811 | xx[453] = xx[383]; |
| 13812 | xx[454] = xx[397]; |
| 13813 | pm_math_quatXform(xx + 154, xx + 452, xx + 459); |
| 13814 | xx[398] = xx[459] + xx[220]; |
| 13815 | xx[411] = xx[460] + xx[235]; |
| 13816 | xx[412] = xx[461] + xx[238]; |
| 13817 | xx[452] = xx[398]; |
| 13818 | xx[453] = xx[411]; |
| 13819 | xx[454] = xx[412]; |
| 13820 | pm_math_quatXform(xx + 150, xx + 452, xx + 459); |
| 13821 | xx[441] = xx[460] + xx[246]; |
| 13822 | xx[443] = xx[459] + xx[245]; |
| 13823 | xx[444] = xx[441] * xx[35] - xx[443] * xx[32]; |
| 13824 | xx[450] = xx[80] * xx[35] * xx[444] - (xx[441] - xx[259]) - xx[135]; |
| 13825 | xx[441] = xx[443] + xx[80] * xx[32] * xx[444] + xx[248] - xx[131]; |
| 13826 | xx[443] = xx[15] * xx[441]; |
| 13827 | xx[444] = xx[15] * xx[450]; |
| 13828 | xx[452] = xx[3] * xx[441] - xx[450] * xx[7]; |
| 13829 | xx[453] = - xx[443]; |
| 13830 | xx[454] = xx[444]; |
| 13831 | xx[455] = xx[452]; |
| 13832 | pm_math_cross3(xx + 139, xx + 453, xx + 459); |
| 13833 | pm_math_quatCompose(xx + 287, xx + 437, xx + 464); |
| 13834 | xx[453] = xx[4] * xx[440]; |
| 13835 | xx[454] = xx[4] * xx[438] + xx[439]; |
| 13836 | xx[468] = xx[453]; |
| 13837 | xx[469] = xx[440]; |
| 13838 | xx[470] = - xx[454]; |
| 13839 | pm_math_cross3(xx + 438, xx + 468, xx + 474); |
| 13840 | xx[455] = xx[437] * xx[440]; |
| 13841 | xx[468] = xx[22] + (xx[474] - xx[437] * xx[453]) * xx[80]; |
| 13842 | xx[469] = xx[80] * (xx[475] - xx[455]) - xx[4]; |
| 13843 | xx[470] = xx[80] * (xx[476] + xx[437] * xx[454]); |
| 13844 | pm_math_cross3(xx + 468, xx + 84, xx + 474); |
| 13845 | pm_math_quatXform(xx + 464, xx + 474, xx + 468); |
| 13846 | xx[454] = - (xx[412] * xx[4]); |
| 13847 | xx[474] = xx[454]; |
| 13848 | xx[475] = - xx[412]; |
| 13849 | xx[476] = xx[411] + xx[398] * xx[4]; |
| 13850 | pm_math_quatXform(xx + 150, xx + 474, xx + 477); |
| 13851 | xx[474] = xx[477] + xx[263]; |
| 13852 | xx[475] = xx[478] + xx[264]; |
| 13853 | xx[476] = xx[479] + xx[265]; |
| 13854 | pm_math_quatXform(xx + 283, xx + 474, xx + 477); |
| 13855 | xx[471] = xx[438] - xx[4] * xx[439]; |
| 13856 | xx[474] = - xx[440]; |
| 13857 | xx[475] = xx[453]; |
| 13858 | xx[476] = xx[471]; |
| 13859 | pm_math_cross3(xx + 438, xx + 474, xx + 480); |
| 13860 | xx[474] = xx[4] + (xx[455] + xx[480]) * xx[80]; |
| 13861 | xx[475] = xx[22] + xx[80] * (xx[481] - xx[4] * xx[455]); |
| 13862 | xx[476] = xx[80] * (xx[482] - xx[437] * xx[471]); |
| 13863 | pm_math_cross3(xx + 474, xx + 84, xx + 480); |
| 13864 | pm_math_quatXform(xx + 464, xx + 480, xx + 474); |
| 13865 | xx[480] = xx[412]; |
| 13866 | xx[481] = xx[454]; |
| 13867 | xx[482] = xx[411] * xx[4] - xx[398]; |
| 13868 | pm_math_quatXform(xx + 150, xx + 480, xx + 453); |
| 13869 | xx[480] = xx[453] + xx[46]; |
| 13870 | xx[481] = xx[454] + xx[47]; |
| 13871 | xx[482] = xx[455] + xx[48]; |
| 13872 | pm_math_quatXform(xx + 283, xx + 480, xx + 453); |
| 13873 | xx[480] = xx[80] * (xx[438] * xx[440] - xx[437] * xx[439]); |
| 13874 | xx[481] = (xx[437] * xx[438] + xx[439] * xx[440]) * xx[80]; |
| 13875 | xx[482] = xx[22] - (xx[438] * xx[438] + xx[439] * xx[439]) * xx[80]; |
| 13876 | pm_math_cross3(xx + 480, xx + 84, xx + 437); |
| 13877 | pm_math_quatXform(xx + 464, xx + 437, xx + 480); |
| 13878 | xx[412] = xx[398] * xx[70]; |
| 13879 | xx[437] = xx[411] * xx[70]; |
| 13880 | xx[438] = xx[398] * xx[26] + xx[411] * xx[68]; |
| 13881 | xx[464] = xx[412]; |
| 13882 | xx[465] = xx[437]; |
| 13883 | xx[466] = - xx[438]; |
| 13884 | pm_math_cross3(xx + 183, xx + 464, xx + 483); |
| 13885 | xx[464] = xx[80] * (xx[483] + xx[412] * xx[24]) + xx[244] - xx[411] - xx[119]; |
| 13886 | xx[465] = xx[398] + xx[80] * (xx[484] + xx[437] * xx[24]) + xx[69] + xx[117]; |
| 13887 | xx[466] = (xx[485] - xx[438] * xx[24]) * xx[80] + xx[75]; |
| 13888 | pm_math_quatXform(xx + 283, xx + 464, xx + 437); |
| 13889 | pm_math_quatCompose(xx + 320, xx + 433, xx + 464); |
| 13890 | xx[398] = xx[435] * xx[435]; |
| 13891 | xx[411] = xx[436] * xx[436]; |
| 13892 | xx[412] = xx[434] * xx[435]; |
| 13893 | xx[440] = xx[433] * xx[436]; |
| 13894 | xx[471] = xx[433] * xx[435]; |
| 13895 | xx[472] = xx[434] * xx[436]; |
| 13896 | xx[483] = xx[22] - (xx[398] + xx[411]) * xx[80]; |
| 13897 | xx[484] = xx[80] * (xx[412] - xx[440]); |
| 13898 | xx[485] = (xx[471] + xx[472]) * xx[80]; |
| 13899 | pm_math_cross3(xx + 483, xx + 84, xx + 486); |
| 13900 | pm_math_quatXform(xx + 464, xx + 486, xx + 483); |
| 13901 | xx[486] = xx[383] * xx[44]; |
| 13902 | xx[487] = xx[397] * xx[83]; |
| 13903 | xx[488] = xx[486] + xx[487]; |
| 13904 | xx[489] = xx[383] * xx[42]; |
| 13905 | xx[490] = xx[397] * xx[42]; |
| 13906 | xx[491] = - xx[488]; |
| 13907 | xx[492] = - xx[489]; |
| 13908 | xx[493] = - xx[490]; |
| 13909 | pm_math_cross3(xx + 333, xx + 491, xx + 494); |
| 13910 | xx[491] = xx[80] * (xx[494] - xx[488] * xx[40]) + xx[336]; |
| 13911 | xx[492] = xx[80] * (xx[495] - xx[489] * xx[40]) + xx[278] - xx[397] - xx[74]; |
| 13912 | xx[493] = xx[383] + xx[80] * (xx[496] - xx[490] * xx[40]) + xx[279] - xx[73]; |
| 13913 | pm_math_quatXform(xx + 287, xx + 491, xx + 488); |
| 13914 | xx[491] = xx[434] * xx[434]; |
| 13915 | xx[492] = xx[435] * xx[436]; |
| 13916 | xx[435] = xx[433] * xx[434]; |
| 13917 | xx[493] = (xx[440] + xx[412]) * xx[80]; |
| 13918 | xx[494] = xx[22] - (xx[411] + xx[491]) * xx[80]; |
| 13919 | xx[495] = xx[80] * (xx[492] - xx[435]); |
| 13920 | pm_math_cross3(xx + 493, xx + 84, xx + 496); |
| 13921 | pm_math_quatXform(xx + 464, xx + 496, xx + 493); |
| 13922 | xx[411] = xx[372] * xx[44]; |
| 13923 | xx[412] = xx[372] * xx[42]; |
| 13924 | xx[433] = xx[412] - xx[487]; |
| 13925 | xx[434] = xx[397] * xx[44]; |
| 13926 | xx[496] = xx[411]; |
| 13927 | xx[497] = xx[433]; |
| 13928 | xx[498] = xx[434]; |
| 13929 | pm_math_cross3(xx + 333, xx + 496, xx + 503); |
| 13930 | xx[496] = xx[397] + (xx[411] * xx[40] + xx[503]) * xx[80] + xx[274] + xx[74]; |
| 13931 | xx[497] = (xx[433] * xx[40] + xx[504]) * xx[80] + xx[134]; |
| 13932 | xx[498] = (xx[434] * xx[40] + xx[505]) * xx[80] + xx[179] - xx[372] - xx[72]; |
| 13933 | pm_math_quatXform(xx + 287, xx + 496, xx + 503); |
| 13934 | xx[496] = xx[80] * (xx[472] - xx[471]); |
| 13935 | xx[497] = (xx[435] + xx[492]) * xx[80]; |
| 13936 | xx[498] = xx[22] - (xx[491] + xx[398]) * xx[80]; |
| 13937 | pm_math_cross3(xx + 496, xx + 84, xx + 433); |
| 13938 | pm_math_quatXform(xx + 464, xx + 433, xx + 496); |
| 13939 | xx[397] = xx[372] * xx[83]; |
| 13940 | xx[398] = xx[383] * xx[83]; |
| 13941 | xx[411] = xx[412] - xx[486]; |
| 13942 | xx[433] = xx[397]; |
| 13943 | xx[434] = xx[398]; |
| 13944 | xx[435] = xx[411]; |
| 13945 | pm_math_cross3(xx + 333, xx + 433, xx + 464); |
| 13946 | xx[433] = (xx[397] * xx[40] + xx[464]) * xx[80] + xx[133] - xx[383] + xx[73]; |
| 13947 | xx[434] = xx[372] + (xx[398] * xx[40] + xx[465]) * xx[80] + xx[64] + xx[72]; |
| 13948 | xx[435] = (xx[411] * xx[40] + xx[466]) * xx[80] + xx[82]; |
| 13949 | pm_math_quatXform(xx + 287, xx + 433, xx + 464); |
| 13950 | pm_math_quatCompose(xx + 349, xx + 429, xx + 433); |
| 13951 | xx[429] = xx[366]; |
| 13952 | xx[430] = xx[367]; |
| 13953 | xx[431] = xx[199]; |
| 13954 | xx[199] = xx[63] * xx[367]; |
| 13955 | xx[366] = xx[249] * xx[57] - xx[219] * xx[63]; |
| 13956 | xx[372] = xx[57] * xx[367]; |
| 13957 | xx[507] = - xx[199]; |
| 13958 | xx[508] = xx[366]; |
| 13959 | xx[509] = xx[372]; |
| 13960 | pm_math_cross3(xx + 429, xx + 507, xx + 513); |
| 13961 | xx[507] = xx[80] * (xx[513] + xx[199] * xx[252]) - xx[57]; |
| 13962 | xx[508] = xx[80] * (xx[514] - xx[366] * xx[252]); |
| 13963 | xx[509] = (xx[515] - xx[372] * xx[252]) * xx[80] - xx[63]; |
| 13964 | pm_math_cross3(xx + 507, xx + 84, xx + 513); |
| 13965 | pm_math_quatXform(xx + 433, xx + 513, xx + 507); |
| 13966 | xx[513] = - (xx[63] * xx[442]); |
| 13967 | xx[514] = xx[57] * xx[332] - xx[63] * xx[237]; |
| 13968 | xx[515] = xx[57] * xx[442]; |
| 13969 | pm_math_quatXform(xx + 215, xx + 513, xx + 516); |
| 13970 | xx[513] = xx[516] + xx[136]; |
| 13971 | xx[514] = xx[517] + xx[137] - xx[67]; |
| 13972 | xx[515] = xx[518] - xx[175]; |
| 13973 | pm_math_quatXform(xx + 320, xx + 513, xx + 516); |
| 13974 | xx[199] = xx[72] * xx[436]; |
| 13975 | xx[237] = xx[73] * xx[435] - xx[72] * xx[434]; |
| 13976 | xx[513] = xx[199]; |
| 13977 | xx[514] = - (xx[73] * xx[436]); |
| 13978 | xx[515] = xx[237]; |
| 13979 | pm_math_cross3(xx + 434, xx + 513, xx + 519); |
| 13980 | xx[332] = xx[249] * xx[254]; |
| 13981 | xx[366] = xx[249] * xx[257]; |
| 13982 | xx[249] = xx[257] * xx[367] - xx[219] * xx[254]; |
| 13983 | xx[513] = xx[332]; |
| 13984 | xx[514] = xx[366]; |
| 13985 | xx[515] = xx[249]; |
| 13986 | pm_math_cross3(xx + 429, xx + 513, xx + 522); |
| 13987 | xx[429] = xx[80] * (xx[522] + xx[332] * xx[252]) - xx[257]; |
| 13988 | xx[430] = xx[254] + (xx[366] * xx[252] + xx[523]) * xx[80]; |
| 13989 | xx[431] = (xx[249] * xx[252] + xx[524]) * xx[80]; |
| 13990 | pm_math_quatXform(xx + 349, xx + 429, xx + 513); |
| 13991 | xx[219] = state[55] + xx[772]; |
| 13992 | xx[249] = xx[219] * xx[2]; |
| 13993 | xx[252] = cos(xx[249]); |
| 13994 | xx[332] = xx[224] * xx[252]; |
| 13995 | xx[366] = sin(xx[249]); |
| 13996 | xx[249] = xx[366] * xx[256]; |
| 13997 | xx[367] = - (xx[252] * xx[315] + xx[319] * xx[366]); |
| 13998 | xx[372] = xx[366] * xx[315] - xx[319] * xx[252]; |
| 13999 | xx[383] = xx[224] * xx[366] + xx[252] * xx[256]; |
| 14000 | xx[429] = xx[332] - xx[249]; |
| 14001 | xx[430] = xx[367]; |
| 14002 | xx[431] = xx[372]; |
| 14003 | xx[432] = xx[383]; |
| 14004 | xx[522] = xx[368]; |
| 14005 | xx[523] = xx[374]; |
| 14006 | xx[524] = xx[373]; |
| 14007 | xx[525] = xx[328]; |
| 14008 | pm_math_quatDeriv(xx + 522, xx + 773, xx + 526); |
| 14009 | xx[397] = xx[328] + xx[529]; |
| 14010 | xx[328] = xx[368] + xx[526]; |
| 14011 | xx[368] = xx[374] + xx[527]; |
| 14012 | xx[374] = xx[373] + xx[528]; |
| 14013 | xx[373] = sqrt(xx[328] * xx[328] + xx[368] * xx[368] + xx[374] * xx[374] + xx |
| 14014 | [397] * xx[397]); |
| 14015 | if (xx[28] > xx[373]) |
| 14016 | xx[373] = xx[28]; |
| 14017 | xx[398] = xx[397] / xx[373]; |
| 14018 | xx[397] = xx[328] / xx[373]; |
| 14019 | xx[328] = xx[21] * xx[398] - xx[25] * xx[397]; |
| 14020 | xx[411] = xx[374] / xx[373]; |
| 14021 | xx[374] = xx[368] / xx[373]; |
| 14022 | xx[368] = xx[21] * xx[411] + xx[25] * xx[374]; |
| 14023 | xx[373] = - xx[368]; |
| 14024 | xx[412] = xx[25] * xx[411] - xx[21] * xx[374]; |
| 14025 | xx[440] = - xx[412]; |
| 14026 | xx[442] = xx[21] * xx[397] + xx[25] * xx[398]; |
| 14027 | xx[467] = - xx[442]; |
| 14028 | xx[522] = xx[328]; |
| 14029 | xx[523] = xx[373]; |
| 14030 | xx[524] = xx[440]; |
| 14031 | xx[525] = xx[467]; |
| 14032 | pm_math_quatCompose(xx + 429, xx + 522, xx + 526); |
| 14033 | xx[429] = (xx[412] * xx[328] + xx[368] * xx[442]) * xx[80]; |
| 14034 | xx[430] = xx[80] * (xx[412] * xx[442] - xx[368] * xx[328]); |
| 14035 | xx[431] = xx[22] - (xx[368] * xx[368] + xx[412] * xx[412]) * xx[80]; |
| 14036 | pm_math_cross3(xx + 429, xx + 267, xx + 537); |
| 14037 | pm_math_quatXform(xx + 526, xx + 537, xx + 429); |
| 14038 | pm_math_quatXform(xx + 522, xx + 126, xx + 526); |
| 14039 | xx[432] = xx[527] * xx[366] - xx[252] * xx[526]; |
| 14040 | xx[471] = xx[409] * xx[252] + xx[410] * xx[366]; |
| 14041 | xx[472] = xx[80] * xx[366] * xx[432] - (xx[527] + xx[80] * xx[471] * xx[366]) |
| 14042 | + xx[410]; |
| 14043 | xx[486] = xx[526] + xx[80] * xx[252] * xx[432] - xx[80] * xx[471] * xx[252] + |
| 14044 | xx[409]; |
| 14045 | xx[432] = xx[486] * xx[319]; |
| 14046 | xx[471] = xx[472] * xx[319]; |
| 14047 | xx[487] = xx[486] * xx[224] - xx[472] * xx[256]; |
| 14048 | xx[529] = - xx[432]; |
| 14049 | xx[530] = xx[471]; |
| 14050 | xx[531] = xx[487]; |
| 14051 | pm_math_cross3(xx + 413, xx + 529, xx + 537); |
| 14052 | xx[540] = - (xx[249] - xx[332]); |
| 14053 | xx[541] = xx[367]; |
| 14054 | xx[542] = xx[372]; |
| 14055 | xx[543] = xx[383]; |
| 14056 | pm_math_quatCompose(xx + 540, xx + 522, xx + 555); |
| 14057 | pm_math_quatXform(xx + 555, xx + 280, xx + 413); |
| 14058 | pm_math_quatXform(xx + 522, xx + 167, xx + 529); |
| 14059 | pm_math_quatXform(xx + 540, xx + 529, xx + 544); |
| 14060 | pm_math_quatXform(xx + 555, xx + 297, xx + 529); |
| 14061 | pm_math_quatXform(xx + 522, xx + 176, xx + 549); |
| 14062 | pm_math_quatXform(xx + 540, xx + 549, xx + 522); |
| 14063 | xx[249] = xx[102] * xx[558]; |
| 14064 | xx[332] = xx[102] * xx[556] + xx[123] * xx[557]; |
| 14065 | xx[549] = - xx[249]; |
| 14066 | xx[550] = - (xx[123] * xx[558]); |
| 14067 | xx[551] = xx[332]; |
| 14068 | pm_math_cross3(xx + 556, xx + 549, xx + 559); |
| 14069 | xx[549] = xx[373]; |
| 14070 | xx[550] = xx[440]; |
| 14071 | xx[551] = xx[467]; |
| 14072 | xx[367] = xx[117] * xx[442]; |
| 14073 | xx[372] = xx[119] * xx[442]; |
| 14074 | xx[373] = xx[117] * xx[368] + xx[412] * xx[119]; |
| 14075 | xx[562] = xx[367]; |
| 14076 | xx[563] = xx[372]; |
| 14077 | xx[564] = - xx[373]; |
| 14078 | pm_math_cross3(xx + 549, xx + 562, xx + 565); |
| 14079 | xx[549] = xx[80] * (xx[565] + xx[367] * xx[328]) - xx[119]; |
| 14080 | xx[550] = xx[117] + (xx[372] * xx[328] + xx[566]) * xx[80]; |
| 14081 | xx[551] = (xx[567] - xx[373] * xx[328]) * xx[80]; |
| 14082 | pm_math_quatXform(xx + 540, xx + 549, xx + 562); |
| 14083 | xx[328] = state[47] + xx[769]; |
| 14084 | xx[367] = xx[328] * xx[2]; |
| 14085 | xx[368] = cos(xx[367]); |
| 14086 | xx[372] = xx[312] * xx[368]; |
| 14087 | xx[373] = sin(xx[367]); |
| 14088 | xx[367] = xx[312] * xx[373]; |
| 14089 | xx[383] = xx[372] + xx[367]; |
| 14090 | xx[412] = xx[379] * xx[373]; |
| 14091 | xx[373] = xx[379] * xx[368]; |
| 14092 | xx[368] = xx[412] - xx[373]; |
| 14093 | xx[440] = xx[373] + xx[412]; |
| 14094 | xx[373] = - xx[440]; |
| 14095 | xx[412] = xx[367] - xx[372]; |
| 14096 | xx[565] = - xx[383]; |
| 14097 | xx[566] = xx[368]; |
| 14098 | xx[567] = xx[373]; |
| 14099 | xx[568] = xx[412]; |
| 14100 | pm_math_quatCompose(xx + 215, xx + 565, xx + 569); |
| 14101 | pm_math_quatCompose(xx + 154, xx + 569, xx + 573); |
| 14102 | pm_math_quatCompose(xx + 150, xx + 573, xx + 577); |
| 14103 | pm_math_quatCompose(xx + 146, xx + 577, xx + 585); |
| 14104 | xx[549] = xx[80] * (xx[578] * xx[580] - xx[577] * xx[579]); |
| 14105 | xx[550] = (xx[577] * xx[578] + xx[579] * xx[580]) * xx[80]; |
| 14106 | xx[551] = xx[22] - (xx[578] * xx[578] + xx[579] * xx[579]) * xx[80]; |
| 14107 | pm_math_cross3(xx + 549, xx + 84, xx + 577); |
| 14108 | pm_math_quatXform(xx + 585, xx + 577, xx + 549); |
| 14109 | pm_math_quatXform(xx + 565, xx + 456, xx + 577); |
| 14110 | xx[367] = xx[314] + xx[577]; |
| 14111 | xx[372] = xx[462] - xx[579]; |
| 14112 | xx[579] = - xx[367]; |
| 14113 | xx[580] = - xx[578]; |
| 14114 | xx[581] = xx[372]; |
| 14115 | pm_math_quatXform(xx + 215, xx + 579, xx + 585); |
| 14116 | xx[442] = xx[585] - xx[236]; |
| 14117 | xx[467] = xx[586] + xx[200]; |
| 14118 | xx[491] = xx[587] - xx[233]; |
| 14119 | xx[585] = xx[442]; |
| 14120 | xx[586] = xx[467]; |
| 14121 | xx[587] = xx[491]; |
| 14122 | pm_math_quatXform(xx + 154, xx + 585, xx + 588); |
| 14123 | xx[492] = xx[588] + xx[220]; |
| 14124 | xx[499] = xx[589] + xx[235]; |
| 14125 | xx[500] = xx[590] + xx[238]; |
| 14126 | xx[585] = xx[492]; |
| 14127 | xx[586] = xx[499]; |
| 14128 | xx[587] = xx[500]; |
| 14129 | pm_math_quatXform(xx + 150, xx + 585, xx + 588); |
| 14130 | xx[510] = xx[589] + xx[246]; |
| 14131 | xx[525] = xx[588] + xx[245]; |
| 14132 | xx[577] = xx[510] * xx[35] - xx[525] * xx[32]; |
| 14133 | xx[582] = xx[80] * xx[35] * xx[577] - (xx[510] - xx[259]) - xx[135]; |
| 14134 | xx[510] = xx[525] + xx[80] * xx[32] * xx[577] + xx[248] - xx[131]; |
| 14135 | xx[525] = xx[510] * xx[15]; |
| 14136 | xx[577] = xx[582] * xx[15]; |
| 14137 | xx[583] = xx[510] * xx[3] - xx[582] * xx[7]; |
| 14138 | xx[585] = - xx[525]; |
| 14139 | xx[586] = xx[577]; |
| 14140 | xx[587] = xx[583]; |
| 14141 | pm_math_cross3(xx + 139, xx + 585, xx + 588); |
| 14142 | pm_math_quatCompose(xx + 287, xx + 573, xx + 602); |
| 14143 | xx[585] = xx[4] * xx[576]; |
| 14144 | xx[586] = xx[4] * xx[574] + xx[575]; |
| 14145 | xx[591] = xx[585]; |
| 14146 | xx[592] = xx[576]; |
| 14147 | xx[593] = - xx[586]; |
| 14148 | pm_math_cross3(xx + 574, xx + 591, xx + 598); |
| 14149 | xx[587] = xx[573] * xx[576]; |
| 14150 | xx[591] = xx[22] + (xx[598] - xx[573] * xx[585]) * xx[80]; |
| 14151 | xx[592] = xx[80] * (xx[599] - xx[587]) - xx[4]; |
| 14152 | xx[593] = xx[80] * (xx[600] + xx[573] * xx[586]); |
| 14153 | pm_math_cross3(xx + 591, xx + 84, xx + 598); |
| 14154 | pm_math_quatXform(xx + 602, xx + 598, xx + 591); |
| 14155 | xx[586] = - (xx[500] * xx[4]); |
| 14156 | xx[598] = xx[586]; |
| 14157 | xx[599] = - xx[500]; |
| 14158 | xx[600] = xx[499] + xx[492] * xx[4]; |
| 14159 | pm_math_quatXform(xx + 150, xx + 598, xx + 606); |
| 14160 | xx[598] = xx[606] + xx[263]; |
| 14161 | xx[599] = xx[607] + xx[264]; |
| 14162 | xx[600] = xx[608] + xx[265]; |
| 14163 | pm_math_quatXform(xx + 283, xx + 598, xx + 606); |
| 14164 | xx[598] = xx[574] - xx[4] * xx[575]; |
| 14165 | xx[610] = - xx[576]; |
| 14166 | xx[611] = xx[585]; |
| 14167 | xx[612] = xx[598]; |
| 14168 | pm_math_cross3(xx + 574, xx + 610, xx + 613); |
| 14169 | xx[610] = xx[4] + (xx[587] + xx[613]) * xx[80]; |
| 14170 | xx[611] = xx[22] + xx[80] * (xx[614] - xx[4] * xx[587]); |
| 14171 | xx[612] = xx[80] * (xx[615] - xx[573] * xx[598]); |
| 14172 | pm_math_cross3(xx + 610, xx + 84, xx + 598); |
| 14173 | pm_math_quatXform(xx + 602, xx + 598, xx + 610); |
| 14174 | xx[598] = xx[500]; |
| 14175 | xx[599] = xx[586]; |
| 14176 | xx[600] = xx[499] * xx[4] - xx[492]; |
| 14177 | pm_math_quatXform(xx + 150, xx + 598, xx + 585); |
| 14178 | xx[598] = xx[585] + xx[46]; |
| 14179 | xx[599] = xx[586] + xx[47]; |
| 14180 | xx[600] = xx[587] + xx[48]; |
| 14181 | pm_math_quatXform(xx + 283, xx + 598, xx + 585); |
| 14182 | xx[598] = xx[80] * (xx[574] * xx[576] - xx[573] * xx[575]); |
| 14183 | xx[599] = (xx[573] * xx[574] + xx[575] * xx[576]) * xx[80]; |
| 14184 | xx[600] = xx[22] - (xx[574] * xx[574] + xx[575] * xx[575]) * xx[80]; |
| 14185 | pm_math_cross3(xx + 598, xx + 84, xx + 573); |
| 14186 | pm_math_quatXform(xx + 602, xx + 573, xx + 598); |
| 14187 | xx[500] = xx[492] * xx[70]; |
| 14188 | xx[573] = xx[499] * xx[70]; |
| 14189 | xx[574] = xx[492] * xx[26] + xx[499] * xx[68]; |
| 14190 | xx[602] = xx[500]; |
| 14191 | xx[603] = xx[573]; |
| 14192 | xx[604] = - xx[574]; |
| 14193 | pm_math_cross3(xx + 183, xx + 602, xx + 613); |
| 14194 | xx[602] = xx[80] * (xx[613] + xx[500] * xx[24]) + xx[244] - xx[499] - xx[119]; |
| 14195 | xx[603] = xx[492] + xx[80] * (xx[614] + xx[573] * xx[24]) + xx[69] + xx[117]; |
| 14196 | xx[604] = (xx[615] - xx[574] * xx[24]) * xx[80] + xx[75]; |
| 14197 | pm_math_quatXform(xx + 283, xx + 602, xx + 573); |
| 14198 | pm_math_quatCompose(xx + 320, xx + 569, xx + 602); |
| 14199 | xx[492] = xx[571] * xx[571]; |
| 14200 | xx[499] = xx[572] * xx[572]; |
| 14201 | xx[500] = xx[570] * xx[571]; |
| 14202 | xx[576] = xx[569] * xx[572]; |
| 14203 | xx[613] = xx[569] * xx[571]; |
| 14204 | xx[614] = xx[570] * xx[572]; |
| 14205 | xx[615] = xx[22] - (xx[492] + xx[499]) * xx[80]; |
| 14206 | xx[616] = xx[80] * (xx[500] - xx[576]); |
| 14207 | xx[617] = (xx[613] + xx[614]) * xx[80]; |
| 14208 | pm_math_cross3(xx + 615, xx + 84, xx + 618); |
| 14209 | pm_math_quatXform(xx + 602, xx + 618, xx + 615); |
| 14210 | xx[618] = xx[467] * xx[44]; |
| 14211 | xx[619] = xx[491] * xx[83]; |
| 14212 | xx[620] = xx[618] + xx[619]; |
| 14213 | xx[621] = xx[467] * xx[42]; |
| 14214 | xx[622] = xx[491] * xx[42]; |
| 14215 | xx[623] = - xx[620]; |
| 14216 | xx[624] = - xx[621]; |
| 14217 | xx[625] = - xx[622]; |
| 14218 | pm_math_cross3(xx + 333, xx + 623, xx + 626); |
| 14219 | xx[623] = xx[80] * (xx[626] - xx[620] * xx[40]) + xx[336]; |
| 14220 | xx[624] = xx[80] * (xx[627] - xx[621] * xx[40]) + xx[278] - xx[491] - xx[74]; |
| 14221 | xx[625] = xx[467] + xx[80] * (xx[628] - xx[622] * xx[40]) + xx[279] - xx[73]; |
| 14222 | pm_math_quatXform(xx + 287, xx + 623, xx + 620); |
| 14223 | xx[623] = xx[570] * xx[570]; |
| 14224 | xx[624] = xx[571] * xx[572]; |
| 14225 | xx[571] = xx[569] * xx[570]; |
| 14226 | xx[625] = (xx[576] + xx[500]) * xx[80]; |
| 14227 | xx[626] = xx[22] - (xx[499] + xx[623]) * xx[80]; |
| 14228 | xx[627] = xx[80] * (xx[624] - xx[571]); |
| 14229 | pm_math_cross3(xx + 625, xx + 84, xx + 628); |
| 14230 | pm_math_quatXform(xx + 602, xx + 628, xx + 625); |
| 14231 | xx[499] = xx[442] * xx[44]; |
| 14232 | xx[500] = xx[442] * xx[42]; |
| 14233 | xx[569] = xx[500] - xx[619]; |
| 14234 | xx[570] = xx[491] * xx[44]; |
| 14235 | xx[628] = xx[499]; |
| 14236 | xx[629] = xx[569]; |
| 14237 | xx[630] = xx[570]; |
| 14238 | pm_math_cross3(xx + 333, xx + 628, xx + 631); |
| 14239 | xx[628] = xx[491] + (xx[499] * xx[40] + xx[631]) * xx[80] + xx[274] + xx[74]; |
| 14240 | xx[629] = (xx[569] * xx[40] + xx[632]) * xx[80] + xx[134]; |
| 14241 | xx[630] = (xx[570] * xx[40] + xx[633]) * xx[80] + xx[179] - xx[442] - xx[72]; |
| 14242 | pm_math_quatXform(xx + 287, xx + 628, xx + 631); |
| 14243 | xx[628] = xx[80] * (xx[614] - xx[613]); |
| 14244 | xx[629] = (xx[571] + xx[624]) * xx[80]; |
| 14245 | xx[630] = xx[22] - (xx[623] + xx[492]) * xx[80]; |
| 14246 | pm_math_cross3(xx + 628, xx + 84, xx + 569); |
| 14247 | pm_math_quatXform(xx + 602, xx + 569, xx + 628); |
| 14248 | xx[491] = xx[442] * xx[83]; |
| 14249 | xx[492] = xx[467] * xx[83]; |
| 14250 | xx[499] = xx[500] - xx[618]; |
| 14251 | xx[569] = xx[491]; |
| 14252 | xx[570] = xx[492]; |
| 14253 | xx[571] = xx[499]; |
| 14254 | pm_math_cross3(xx + 333, xx + 569, xx + 602); |
| 14255 | xx[569] = (xx[491] * xx[40] + xx[602]) * xx[80] + xx[133] - xx[467] + xx[73]; |
| 14256 | xx[570] = xx[442] + (xx[492] * xx[40] + xx[603]) * xx[80] + xx[64] + xx[72]; |
| 14257 | xx[571] = (xx[499] * xx[40] + xx[604]) * xx[80] + xx[82]; |
| 14258 | pm_math_quatXform(xx + 287, xx + 569, xx + 602); |
| 14259 | pm_math_quatCompose(xx + 349, xx + 565, xx + 569); |
| 14260 | xx[565] = xx[368]; |
| 14261 | xx[566] = xx[373]; |
| 14262 | xx[567] = xx[412]; |
| 14263 | xx[373] = xx[440] * xx[63]; |
| 14264 | xx[442] = xx[63] * xx[368] - xx[57] * xx[412]; |
| 14265 | xx[467] = xx[440] * xx[57]; |
| 14266 | xx[634] = xx[373]; |
| 14267 | xx[635] = xx[442]; |
| 14268 | xx[636] = - xx[467]; |
| 14269 | pm_math_cross3(xx + 565, xx + 634, xx + 639); |
| 14270 | xx[634] = xx[80] * (xx[639] + xx[383] * xx[373]) - xx[57]; |
| 14271 | xx[635] = xx[80] * (xx[640] + xx[383] * xx[442]); |
| 14272 | xx[636] = (xx[641] - xx[383] * xx[467]) * xx[80] - xx[63]; |
| 14273 | pm_math_cross3(xx + 634, xx + 84, xx + 639); |
| 14274 | pm_math_quatXform(xx + 569, xx + 639, xx + 634); |
| 14275 | xx[639] = - (xx[63] * xx[578]); |
| 14276 | xx[640] = xx[63] * xx[367] + xx[57] * xx[372]; |
| 14277 | xx[641] = xx[57] * xx[578]; |
| 14278 | pm_math_quatXform(xx + 215, xx + 639, xx + 644); |
| 14279 | xx[639] = xx[644] + xx[136]; |
| 14280 | xx[640] = xx[645] + xx[137] - xx[67]; |
| 14281 | xx[641] = xx[646] - xx[175]; |
| 14282 | pm_math_quatXform(xx + 320, xx + 639, xx + 644); |
| 14283 | xx[367] = xx[72] * xx[572]; |
| 14284 | xx[372] = xx[72] * xx[570] - xx[73] * xx[571]; |
| 14285 | xx[639] = - xx[367]; |
| 14286 | xx[640] = xx[73] * xx[572]; |
| 14287 | xx[641] = xx[372]; |
| 14288 | pm_math_cross3(xx + 570, xx + 639, xx + 649); |
| 14289 | xx[373] = xx[327] * xx[412]; |
| 14290 | xx[442] = xx[401] * xx[412]; |
| 14291 | xx[412] = xx[327] * xx[368] + xx[440] * xx[401]; |
| 14292 | xx[639] = - xx[373]; |
| 14293 | xx[640] = xx[442]; |
| 14294 | xx[641] = xx[412]; |
| 14295 | pm_math_cross3(xx + 565, xx + 639, xx + 652); |
| 14296 | xx[565] = xx[401] + xx[80] * (xx[652] + xx[383] * xx[373]); |
| 14297 | xx[566] = xx[327] + (xx[653] - xx[383] * xx[442]) * xx[80]; |
| 14298 | xx[567] = (xx[654] - xx[383] * xx[412]) * xx[80]; |
| 14299 | pm_math_quatXform(xx + 349, xx + 565, xx + 639); |
| 14300 | xx[368] = state[77] + xx[780]; |
| 14301 | xx[373] = xx[368] * xx[2]; |
| 14302 | xx[383] = cos(xx[373]); |
| 14303 | xx[412] = xx[383] * xx[400]; |
| 14304 | xx[440] = sin(xx[373]); |
| 14305 | xx[373] = xx[451] * xx[440]; |
| 14306 | xx[442] = - (xx[501] * xx[383] - xx[440] * xx[502]); |
| 14307 | xx[467] = xx[501] * xx[440] + xx[383] * xx[502]; |
| 14308 | xx[491] = xx[440] * xx[400] + xx[451] * xx[383]; |
| 14309 | xx[565] = xx[412] - xx[373]; |
| 14310 | xx[566] = xx[442]; |
| 14311 | xx[567] = xx[467]; |
| 14312 | xx[568] = xx[491]; |
| 14313 | xx[652] = xx[512]; |
| 14314 | xx[653] = xx[534]; |
| 14315 | xx[654] = xx[533]; |
| 14316 | xx[655] = xx[511]; |
| 14317 | pm_math_quatDeriv(xx + 652, xx + 781, xx + 656); |
| 14318 | xx[492] = xx[511] + xx[659]; |
| 14319 | xx[499] = xx[512] + xx[656]; |
| 14320 | xx[500] = xx[534] + xx[657]; |
| 14321 | xx[511] = xx[533] + xx[658]; |
| 14322 | xx[512] = sqrt(xx[499] * xx[499] + xx[500] * xx[500] + xx[511] * xx[511] + xx |
| 14323 | [492] * xx[492]); |
| 14324 | if (xx[28] > xx[512]) |
| 14325 | xx[512] = xx[28]; |
| 14326 | xx[533] = xx[492] / xx[512]; |
| 14327 | xx[492] = xx[499] / xx[512]; |
| 14328 | xx[499] = xx[21] * xx[533] - xx[25] * xx[492]; |
| 14329 | xx[534] = xx[511] / xx[512]; |
| 14330 | xx[511] = xx[500] / xx[512]; |
| 14331 | xx[500] = xx[21] * xx[534] + xx[25] * xx[511]; |
| 14332 | xx[512] = - xx[500]; |
| 14333 | xx[576] = xx[25] * xx[534] - xx[21] * xx[511]; |
| 14334 | xx[578] = - xx[576]; |
| 14335 | xx[605] = xx[21] * xx[492] + xx[25] * xx[533]; |
| 14336 | xx[613] = - xx[605]; |
| 14337 | xx[652] = xx[499]; |
| 14338 | xx[653] = xx[512]; |
| 14339 | xx[654] = xx[578]; |
| 14340 | xx[655] = xx[613]; |
| 14341 | pm_math_quatCompose(xx + 565, xx + 652, xx + 656); |
| 14342 | xx[565] = (xx[576] * xx[499] + xx[605] * xx[500]) * xx[80]; |
| 14343 | xx[566] = xx[80] * (xx[576] * xx[605] - xx[499] * xx[500]); |
| 14344 | xx[567] = xx[22] - (xx[500] * xx[500] + xx[576] * xx[576]) * xx[80]; |
| 14345 | pm_math_cross3(xx + 565, xx + 267, xx + 660); |
| 14346 | pm_math_quatXform(xx + 656, xx + 660, xx + 565); |
| 14347 | pm_math_quatXform(xx + 652, xx + 126, xx + 656); |
| 14348 | xx[568] = xx[657] * xx[440] - xx[383] * xx[656]; |
| 14349 | xx[614] = xx[547] * xx[383] + xx[548] * xx[440]; |
| 14350 | xx[618] = xx[80] * xx[440] * xx[568] - (xx[657] - xx[80] * xx[614] * xx[440]) |
| 14351 | - xx[548]; |
| 14352 | xx[619] = xx[656] + xx[80] * xx[383] * xx[568] + xx[80] * xx[614] * xx[383] - |
| 14353 | xx[547]; |
| 14354 | xx[568] = xx[619] * xx[502]; |
| 14355 | xx[614] = xx[618] * xx[502]; |
| 14356 | xx[623] = xx[619] * xx[400] - xx[618] * xx[451]; |
| 14357 | xx[659] = xx[568]; |
| 14358 | xx[660] = - xx[614]; |
| 14359 | xx[661] = xx[623]; |
| 14360 | pm_math_cross3(xx + 552, xx + 659, xx + 662); |
| 14361 | xx[676] = - (xx[373] - xx[412]); |
| 14362 | xx[677] = xx[442]; |
| 14363 | xx[678] = xx[467]; |
| 14364 | xx[679] = xx[491]; |
| 14365 | pm_math_quatCompose(xx + 676, xx + 652, xx + 692); |
| 14366 | pm_math_quatXform(xx + 692, xx + 280, xx + 552); |
| 14367 | pm_math_quatXform(xx + 652, xx + 167, xx + 659); |
| 14368 | pm_math_quatXform(xx + 676, xx + 659, xx + 665); |
| 14369 | pm_math_quatXform(xx + 692, xx + 297, xx + 659); |
| 14370 | pm_math_quatXform(xx + 652, xx + 176, xx + 681); |
| 14371 | pm_math_quatXform(xx + 676, xx + 681, xx + 652); |
| 14372 | xx[373] = xx[102] * xx[695]; |
| 14373 | xx[412] = xx[102] * xx[693] + xx[123] * xx[694]; |
| 14374 | xx[681] = - xx[373]; |
| 14375 | xx[682] = - (xx[123] * xx[695]); |
| 14376 | xx[683] = xx[412]; |
| 14377 | pm_math_cross3(xx + 693, xx + 681, xx + 686); |
| 14378 | xx[681] = xx[512]; |
| 14379 | xx[682] = xx[578]; |
| 14380 | xx[683] = xx[613]; |
| 14381 | xx[442] = xx[117] * xx[605]; |
| 14382 | xx[467] = xx[119] * xx[605]; |
| 14383 | xx[491] = xx[117] * xx[500] + xx[576] * xx[119]; |
| 14384 | xx[696] = xx[442]; |
| 14385 | xx[697] = xx[467]; |
| 14386 | xx[698] = - xx[491]; |
| 14387 | pm_math_cross3(xx + 681, xx + 696, xx + 699); |
| 14388 | xx[681] = xx[80] * (xx[699] + xx[442] * xx[499]) - xx[119]; |
| 14389 | xx[682] = xx[117] + (xx[467] * xx[499] + xx[700]) * xx[80]; |
| 14390 | xx[683] = (xx[701] - xx[491] * xx[499]) * xx[80]; |
| 14391 | pm_math_quatXform(xx + 676, xx + 681, xx + 696); |
| 14392 | xx[442] = state[49] + xx[770]; |
| 14393 | xx[467] = xx[442] * xx[2]; |
| 14394 | xx[491] = cos(xx[467]); |
| 14395 | xx[499] = xx[312] * xx[491]; |
| 14396 | xx[500] = sin(xx[467]); |
| 14397 | xx[467] = xx[312] * xx[500]; |
| 14398 | xx[512] = xx[499] + xx[467]; |
| 14399 | xx[576] = xx[379] * xx[491]; |
| 14400 | xx[491] = xx[379] * xx[500]; |
| 14401 | xx[500] = xx[576] - xx[491]; |
| 14402 | xx[578] = xx[576] + xx[491]; |
| 14403 | xx[491] = xx[499] - xx[467]; |
| 14404 | xx[699] = xx[512]; |
| 14405 | xx[700] = xx[500]; |
| 14406 | xx[701] = xx[578]; |
| 14407 | xx[702] = xx[491]; |
| 14408 | pm_math_quatCompose(xx + 215, xx + 699, xx + 703); |
| 14409 | pm_math_quatCompose(xx + 154, xx + 703, xx + 707); |
| 14410 | pm_math_quatCompose(xx + 150, xx + 707, xx + 711); |
| 14411 | pm_math_quatCompose(xx + 146, xx + 711, xx + 715); |
| 14412 | xx[681] = xx[80] * (xx[712] * xx[714] - xx[711] * xx[713]); |
| 14413 | xx[682] = (xx[711] * xx[712] + xx[713] * xx[714]) * xx[80]; |
| 14414 | xx[683] = xx[22] - (xx[712] * xx[712] + xx[713] * xx[713]) * xx[80]; |
| 14415 | pm_math_cross3(xx + 681, xx + 84, xx + 711); |
| 14416 | pm_math_quatXform(xx + 715, xx + 711, xx + 681); |
| 14417 | pm_math_quatXform(xx + 699, xx + 595, xx + 711); |
| 14418 | xx[467] = xx[446] + xx[711]; |
| 14419 | xx[499] = xx[601] - xx[713]; |
| 14420 | xx[713] = - xx[467]; |
| 14421 | xx[714] = - xx[712]; |
| 14422 | xx[715] = xx[499]; |
| 14423 | pm_math_quatXform(xx + 215, xx + 713, xx + 716); |
| 14424 | xx[576] = xx[716] - xx[236]; |
| 14425 | xx[605] = xx[717] + xx[200]; |
| 14426 | xx[613] = xx[718] - xx[233]; |
| 14427 | xx[716] = xx[576]; |
| 14428 | xx[717] = xx[605]; |
| 14429 | xx[718] = xx[613]; |
| 14430 | pm_math_quatXform(xx + 154, xx + 716, xx + 723); |
| 14431 | xx[624] = xx[723] + xx[220]; |
| 14432 | xx[655] = xx[724] + xx[235]; |
| 14433 | xx[669] = xx[725] + xx[238]; |
| 14434 | xx[716] = xx[624]; |
| 14435 | xx[717] = xx[655]; |
| 14436 | xx[718] = xx[669]; |
| 14437 | pm_math_quatXform(xx + 150, xx + 716, xx + 723); |
| 14438 | xx[673] = xx[724] + xx[246]; |
| 14439 | xx[674] = xx[723] + xx[245]; |
| 14440 | xx[711] = xx[673] * xx[35] - xx[674] * xx[32]; |
| 14441 | xx[716] = xx[80] * xx[35] * xx[711] - (xx[673] - xx[259]) - xx[135]; |
| 14442 | xx[673] = xx[674] + xx[80] * xx[32] * xx[711] + xx[248] - xx[131]; |
| 14443 | xx[674] = xx[673] * xx[15]; |
| 14444 | xx[711] = xx[716] * xx[15]; |
| 14445 | xx[717] = xx[673] * xx[3] - xx[716] * xx[7]; |
| 14446 | xx[723] = - xx[674]; |
| 14447 | xx[724] = xx[711]; |
| 14448 | xx[725] = xx[717]; |
| 14449 | pm_math_cross3(xx + 139, xx + 723, xx + 726); |
| 14450 | pm_math_quatCompose(xx + 287, xx + 707, xx + 734); |
| 14451 | xx[718] = xx[4] * xx[710]; |
| 14452 | xx[719] = xx[4] * xx[708] + xx[709]; |
| 14453 | xx[723] = xx[718]; |
| 14454 | xx[724] = xx[710]; |
| 14455 | xx[725] = - xx[719]; |
| 14456 | pm_math_cross3(xx + 708, xx + 723, xx + 739); |
| 14457 | xx[723] = xx[707] * xx[710]; |
| 14458 | xx[742] = xx[22] + (xx[739] - xx[707] * xx[718]) * xx[80]; |
| 14459 | xx[743] = xx[80] * (xx[740] - xx[723]) - xx[4]; |
| 14460 | xx[744] = xx[80] * (xx[741] + xx[707] * xx[719]); |
| 14461 | pm_math_cross3(xx + 742, xx + 84, xx + 739); |
| 14462 | pm_math_quatXform(xx + 734, xx + 739, xx + 742); |
| 14463 | xx[719] = - (xx[669] * xx[4]); |
| 14464 | xx[739] = xx[719]; |
| 14465 | xx[740] = - xx[669]; |
| 14466 | xx[741] = xx[655] + xx[624] * xx[4]; |
| 14467 | pm_math_quatXform(xx + 150, xx + 739, xx + 748); |
| 14468 | xx[739] = xx[748] + xx[263]; |
| 14469 | xx[740] = xx[749] + xx[264]; |
| 14470 | xx[741] = xx[750] + xx[265]; |
| 14471 | pm_math_quatXform(xx + 283, xx + 739, xx + 748); |
| 14472 | xx[724] = xx[708] - xx[4] * xx[709]; |
| 14473 | xx[739] = - xx[710]; |
| 14474 | xx[740] = xx[718]; |
| 14475 | xx[741] = xx[724]; |
| 14476 | pm_math_cross3(xx + 708, xx + 739, xx + 792); |
| 14477 | xx[739] = xx[4] + (xx[723] + xx[792]) * xx[80]; |
| 14478 | xx[740] = xx[22] + xx[80] * (xx[793] - xx[4] * xx[723]); |
| 14479 | xx[741] = xx[80] * (xx[794] - xx[707] * xx[724]); |
| 14480 | pm_math_cross3(xx + 739, xx + 84, xx + 723); |
| 14481 | pm_math_quatXform(xx + 734, xx + 723, xx + 739); |
| 14482 | xx[723] = xx[669]; |
| 14483 | xx[724] = xx[719]; |
| 14484 | xx[725] = xx[655] * xx[4] - xx[624]; |
| 14485 | pm_math_quatXform(xx + 150, xx + 723, xx + 792); |
| 14486 | xx[723] = xx[792] + xx[46]; |
| 14487 | xx[724] = xx[793] + xx[47]; |
| 14488 | xx[725] = xx[794] + xx[48]; |
| 14489 | pm_math_quatXform(xx + 283, xx + 723, xx + 792); |
| 14490 | xx[723] = xx[80] * (xx[708] * xx[710] - xx[707] * xx[709]); |
| 14491 | xx[724] = (xx[707] * xx[708] + xx[709] * xx[710]) * xx[80]; |
| 14492 | xx[725] = xx[22] - (xx[708] * xx[708] + xx[709] * xx[709]) * xx[80]; |
| 14493 | pm_math_cross3(xx + 723, xx + 84, xx + 707); |
| 14494 | pm_math_quatXform(xx + 734, xx + 707, xx + 723); |
| 14495 | xx[669] = xx[624] * xx[70]; |
| 14496 | xx[707] = xx[655] * xx[70]; |
| 14497 | xx[708] = xx[624] * xx[26] + xx[655] * xx[68]; |
| 14498 | xx[734] = xx[669]; |
| 14499 | xx[735] = xx[707]; |
| 14500 | xx[736] = - xx[708]; |
| 14501 | pm_math_cross3(xx + 183, xx + 734, xx + 795); |
| 14502 | xx[734] = xx[80] * (xx[795] + xx[669] * xx[24]) + xx[244] - xx[655] - xx[119]; |
| 14503 | xx[735] = xx[624] + xx[80] * (xx[796] + xx[707] * xx[24]) + xx[69] + xx[117]; |
| 14504 | xx[736] = (xx[797] - xx[708] * xx[24]) * xx[80] + xx[75]; |
| 14505 | pm_math_quatXform(xx + 283, xx + 734, xx + 707); |
| 14506 | pm_math_quatCompose(xx + 320, xx + 703, xx + 734); |
| 14507 | xx[624] = xx[705] * xx[705]; |
| 14508 | xx[655] = xx[706] * xx[706]; |
| 14509 | xx[669] = xx[704] * xx[705]; |
| 14510 | xx[710] = xx[703] * xx[706]; |
| 14511 | xx[718] = xx[703] * xx[705]; |
| 14512 | xx[719] = xx[704] * xx[706]; |
| 14513 | xx[795] = xx[22] - (xx[624] + xx[655]) * xx[80]; |
| 14514 | xx[796] = xx[80] * (xx[669] - xx[710]); |
| 14515 | xx[797] = (xx[718] + xx[719]) * xx[80]; |
| 14516 | pm_math_cross3(xx + 795, xx + 84, xx + 798); |
| 14517 | pm_math_quatXform(xx + 734, xx + 798, xx + 795); |
| 14518 | xx[731] = xx[605] * xx[44]; |
| 14519 | xx[745] = xx[613] * xx[83]; |
| 14520 | xx[751] = xx[731] + xx[745]; |
| 14521 | xx[788] = xx[605] * xx[42]; |
| 14522 | xx[789] = xx[613] * xx[42]; |
| 14523 | xx[798] = - xx[751]; |
| 14524 | xx[799] = - xx[788]; |
| 14525 | xx[800] = - xx[789]; |
| 14526 | pm_math_cross3(xx + 333, xx + 798, xx + 801); |
| 14527 | xx[798] = xx[80] * (xx[801] - xx[751] * xx[40]) + xx[336]; |
| 14528 | xx[799] = xx[80] * (xx[802] - xx[788] * xx[40]) + xx[278] - xx[613] - xx[74]; |
| 14529 | xx[800] = xx[605] + xx[80] * (xx[803] - xx[789] * xx[40]) + xx[279] - xx[73]; |
| 14530 | pm_math_quatXform(xx + 287, xx + 798, xx + 801); |
| 14531 | xx[751] = xx[704] * xx[704]; |
| 14532 | xx[788] = xx[705] * xx[706]; |
| 14533 | xx[705] = xx[703] * xx[704]; |
| 14534 | xx[798] = (xx[710] + xx[669]) * xx[80]; |
| 14535 | xx[799] = xx[22] - (xx[655] + xx[751]) * xx[80]; |
| 14536 | xx[800] = xx[80] * (xx[788] - xx[705]); |
| 14537 | pm_math_cross3(xx + 798, xx + 84, xx + 804); |
| 14538 | pm_math_quatXform(xx + 734, xx + 804, xx + 798); |
| 14539 | xx[655] = xx[576] * xx[44]; |
| 14540 | xx[669] = xx[576] * xx[42]; |
| 14541 | xx[703] = xx[669] - xx[745]; |
| 14542 | xx[704] = xx[613] * xx[44]; |
| 14543 | xx[804] = xx[655]; |
| 14544 | xx[805] = xx[703]; |
| 14545 | xx[806] = xx[704]; |
| 14546 | pm_math_cross3(xx + 333, xx + 804, xx + 807); |
| 14547 | xx[804] = xx[613] + (xx[655] * xx[40] + xx[807]) * xx[80] + xx[274] + xx[74]; |
| 14548 | xx[805] = (xx[703] * xx[40] + xx[808]) * xx[80] + xx[134]; |
| 14549 | xx[806] = (xx[704] * xx[40] + xx[809]) * xx[80] + xx[179] - xx[576] - xx[72]; |
| 14550 | pm_math_quatXform(xx + 287, xx + 804, xx + 807); |
| 14551 | xx[804] = xx[80] * (xx[719] - xx[718]); |
| 14552 | xx[805] = (xx[705] + xx[788]) * xx[80]; |
| 14553 | xx[806] = xx[22] - (xx[751] + xx[624]) * xx[80]; |
| 14554 | pm_math_cross3(xx + 804, xx + 84, xx + 703); |
| 14555 | pm_math_quatXform(xx + 734, xx + 703, xx + 804); |
| 14556 | xx[613] = xx[576] * xx[83]; |
| 14557 | xx[624] = xx[605] * xx[83]; |
| 14558 | xx[655] = xx[669] - xx[731]; |
| 14559 | xx[703] = xx[613]; |
| 14560 | xx[704] = xx[624]; |
| 14561 | xx[705] = xx[655]; |
| 14562 | pm_math_cross3(xx + 333, xx + 703, xx + 734); |
| 14563 | xx[703] = (xx[613] * xx[40] + xx[734]) * xx[80] + xx[133] - xx[605] + xx[73]; |
| 14564 | xx[704] = xx[576] + (xx[624] * xx[40] + xx[735]) * xx[80] + xx[64] + xx[72]; |
| 14565 | xx[705] = (xx[655] * xx[40] + xx[736]) * xx[80] + xx[82]; |
| 14566 | pm_math_quatXform(xx + 287, xx + 703, xx + 734); |
| 14567 | pm_math_quatCompose(xx + 349, xx + 699, xx + 703); |
| 14568 | xx[699] = xx[500]; |
| 14569 | xx[700] = xx[578]; |
| 14570 | xx[701] = xx[491]; |
| 14571 | xx[576] = xx[578] * xx[63]; |
| 14572 | xx[605] = xx[63] * xx[500] - xx[57] * xx[491]; |
| 14573 | xx[613] = xx[578] * xx[57]; |
| 14574 | xx[810] = - xx[576]; |
| 14575 | xx[811] = xx[605]; |
| 14576 | xx[812] = xx[613]; |
| 14577 | pm_math_cross3(xx + 699, xx + 810, xx + 813); |
| 14578 | xx[810] = xx[80] * (xx[813] + xx[512] * xx[576]) - xx[57]; |
| 14579 | xx[811] = xx[80] * (xx[814] - xx[512] * xx[605]); |
| 14580 | xx[812] = (xx[815] - xx[512] * xx[613]) * xx[80] - xx[63]; |
| 14581 | pm_math_cross3(xx + 810, xx + 84, xx + 813); |
| 14582 | pm_math_quatXform(xx + 703, xx + 813, xx + 810); |
| 14583 | xx[813] = - (xx[63] * xx[712]); |
| 14584 | xx[814] = xx[63] * xx[467] + xx[57] * xx[499]; |
| 14585 | xx[815] = xx[57] * xx[712]; |
| 14586 | pm_math_quatXform(xx + 215, xx + 813, xx + 816); |
| 14587 | xx[813] = xx[816] + xx[136]; |
| 14588 | xx[814] = xx[817] + xx[137] - xx[67]; |
| 14589 | xx[815] = xx[818] - xx[175]; |
| 14590 | pm_math_quatXform(xx + 320, xx + 813, xx + 816); |
| 14591 | xx[467] = xx[72] * xx[706]; |
| 14592 | xx[499] = xx[72] * xx[704] - xx[73] * xx[705]; |
| 14593 | xx[813] = - xx[467]; |
| 14594 | xx[814] = xx[73] * xx[706]; |
| 14595 | xx[815] = xx[499]; |
| 14596 | pm_math_cross3(xx + 704, xx + 813, xx + 819); |
| 14597 | xx[576] = xx[506] * xx[491]; |
| 14598 | xx[605] = xx[535] * xx[491]; |
| 14599 | xx[491] = xx[506] * xx[500] + xx[578] * xx[535]; |
| 14600 | xx[813] = xx[576]; |
| 14601 | xx[814] = xx[605]; |
| 14602 | xx[815] = - xx[491]; |
| 14603 | pm_math_cross3(xx + 699, xx + 813, xx + 822); |
| 14604 | xx[699] = xx[535] + xx[80] * (xx[822] + xx[512] * xx[576]); |
| 14605 | xx[700] = (xx[512] * xx[605] + xx[823]) * xx[80] - xx[506]; |
| 14606 | xx[701] = (xx[824] - xx[512] * xx[491]) * xx[80]; |
| 14607 | pm_math_quatXform(xx + 349, xx + 699, xx + 813); |
| 14608 | xx[491] = state[88] + xx[784]; |
| 14609 | xx[500] = xx[491] * xx[2]; |
| 14610 | xx[512] = cos(xx[500]); |
| 14611 | xx[576] = xx[512] * xx[536]; |
| 14612 | xx[578] = sin(xx[500]); |
| 14613 | xx[500] = xx[594] * xx[578]; |
| 14614 | xx[605] = - (xx[638] * xx[512] + xx[578] * xx[642]); |
| 14615 | xx[613] = xx[638] * xx[578] - xx[512] * xx[642]; |
| 14616 | xx[624] = xx[594] * xx[512] - xx[578] * xx[536]; |
| 14617 | xx[699] = - (xx[576] + xx[500]); |
| 14618 | xx[700] = xx[605]; |
| 14619 | xx[701] = xx[613]; |
| 14620 | xx[702] = xx[624]; |
| 14621 | xx[822] = xx[668]; |
| 14622 | xx[823] = xx[671]; |
| 14623 | xx[824] = xx[670]; |
| 14624 | xx[825] = xx[648]; |
| 14625 | pm_math_quatDeriv(xx + 822, xx + 785, xx + 826); |
| 14626 | xx[655] = xx[648] + xx[829]; |
| 14627 | xx[648] = xx[668] + xx[826]; |
| 14628 | xx[668] = xx[671] + xx[827]; |
| 14629 | xx[669] = xx[670] + xx[828]; |
| 14630 | xx[670] = sqrt(xx[648] * xx[648] + xx[668] * xx[668] + xx[669] * xx[669] + xx |
| 14631 | [655] * xx[655]); |
| 14632 | if (xx[28] > xx[670]) |
| 14633 | xx[670] = xx[28]; |
| 14634 | xx[671] = xx[655] / xx[670]; |
| 14635 | xx[655] = xx[648] / xx[670]; |
| 14636 | xx[648] = xx[21] * xx[671] - xx[25] * xx[655]; |
| 14637 | xx[710] = xx[669] / xx[670]; |
| 14638 | xx[669] = xx[668] / xx[670]; |
| 14639 | xx[668] = xx[21] * xx[710] + xx[25] * xx[669]; |
| 14640 | xx[670] = - xx[668]; |
| 14641 | xx[712] = xx[25] * xx[710] - xx[21] * xx[669]; |
| 14642 | xx[718] = - xx[712]; |
| 14643 | xx[719] = xx[21] * xx[655] + xx[25] * xx[671]; |
| 14644 | xx[731] = - xx[719]; |
| 14645 | xx[822] = xx[648]; |
| 14646 | xx[823] = xx[670]; |
| 14647 | xx[824] = xx[718]; |
| 14648 | xx[825] = xx[731]; |
| 14649 | pm_math_quatCompose(xx + 699, xx + 822, xx + 826); |
| 14650 | xx[699] = (xx[712] * xx[648] + xx[719] * xx[668]) * xx[80]; |
| 14651 | xx[700] = xx[80] * (xx[712] * xx[719] - xx[648] * xx[668]); |
| 14652 | xx[701] = xx[22] - (xx[668] * xx[668] + xx[712] * xx[712]) * xx[80]; |
| 14653 | pm_math_cross3(xx + 699, xx + 267, xx + 830); |
| 14654 | pm_math_quatXform(xx + 826, xx + 830, xx + 699); |
| 14655 | pm_math_quatXform(xx + 822, xx + 126, xx + 826); |
| 14656 | xx[702] = xx[827] * xx[578] - xx[512] * xx[826]; |
| 14657 | xx[737] = xx[684] * xx[512] + xx[685] * xx[578]; |
| 14658 | xx[745] = xx[80] * xx[578] * xx[702] - (xx[827] - xx[80] * xx[737] * xx[578]) |
| 14659 | - xx[685]; |
| 14660 | xx[751] = xx[826] + xx[80] * xx[512] * xx[702] + xx[80] * xx[737] * xx[512] - |
| 14661 | xx[684]; |
| 14662 | xx[702] = xx[751] * xx[642]; |
| 14663 | xx[737] = xx[745] * xx[642]; |
| 14664 | xx[788] = xx[751] * xx[536] + xx[745] * xx[594]; |
| 14665 | xx[829] = - xx[702]; |
| 14666 | xx[830] = xx[737]; |
| 14667 | xx[831] = - xx[788]; |
| 14668 | pm_math_cross3(xx + 689, xx + 829, xx + 832); |
| 14669 | xx[835] = - (xx[500] + xx[576]); |
| 14670 | xx[836] = xx[605]; |
| 14671 | xx[837] = xx[613]; |
| 14672 | xx[838] = xx[624]; |
| 14673 | pm_math_quatCompose(xx + 835, xx + 822, xx + 839); |
| 14674 | pm_math_quatXform(xx + 839, xx + 280, xx + 689); |
| 14675 | pm_math_quatXform(xx + 822, xx + 167, xx + 829); |
| 14676 | pm_math_quatXform(xx + 835, xx + 829, xx + 843); |
| 14677 | pm_math_quatXform(xx + 839, xx + 297, xx + 829); |
| 14678 | pm_math_quatXform(xx + 822, xx + 176, xx + 846); |
| 14679 | pm_math_quatXform(xx + 835, xx + 846, xx + 822); |
| 14680 | xx[500] = xx[102] * xx[842]; |
| 14681 | xx[576] = xx[102] * xx[840] + xx[123] * xx[841]; |
| 14682 | xx[846] = - xx[500]; |
| 14683 | xx[847] = - (xx[123] * xx[842]); |
| 14684 | xx[848] = xx[576]; |
| 14685 | pm_math_cross3(xx + 840, xx + 846, xx + 849); |
| 14686 | xx[846] = xx[670]; |
| 14687 | xx[847] = xx[718]; |
| 14688 | xx[848] = xx[731]; |
| 14689 | xx[605] = xx[117] * xx[719]; |
| 14690 | xx[613] = xx[119] * xx[719]; |
| 14691 | xx[624] = xx[117] * xx[668] + xx[712] * xx[119]; |
| 14692 | xx[852] = xx[605]; |
| 14693 | xx[853] = xx[613]; |
| 14694 | xx[854] = - xx[624]; |
| 14695 | pm_math_cross3(xx + 846, xx + 852, xx + 855); |
| 14696 | xx[846] = xx[80] * (xx[855] + xx[605] * xx[648]) - xx[119]; |
| 14697 | xx[847] = xx[117] + (xx[613] * xx[648] + xx[856]) * xx[80]; |
| 14698 | xx[848] = (xx[857] - xx[624] * xx[648]) * xx[80]; |
| 14699 | pm_math_quatXform(xx + 835, xx + 846, xx + 852); |
| 14700 | xx[605] = xx[17] * xx[2]; |
| 14701 | xx[613] = cos(xx[605]); |
| 14702 | xx[624] = xx[613] * xx[647]; |
| 14703 | xx[648] = sin(xx[605]); |
| 14704 | xx[605] = xx[675] * xx[648]; |
| 14705 | xx[668] = - (xx[721] * xx[613] - xx[648] * xx[722]); |
| 14706 | xx[670] = xx[721] * xx[648] + xx[613] * xx[722]; |
| 14707 | xx[712] = xx[675] * xx[613] - xx[648] * xx[647]; |
| 14708 | xx[855] = - (xx[624] + xx[605]); |
| 14709 | xx[856] = xx[668]; |
| 14710 | xx[857] = xx[670]; |
| 14711 | xx[858] = xx[712]; |
| 14712 | xx[859] = xx[730]; |
| 14713 | xx[860] = xx[733]; |
| 14714 | xx[861] = xx[732]; |
| 14715 | xx[862] = xx[729]; |
| 14716 | pm_math_quatDeriv(xx + 859, xx + 756, xx + 863); |
| 14717 | xx[718] = xx[729] + xx[866]; |
| 14718 | xx[719] = xx[730] + xx[863]; |
| 14719 | xx[729] = xx[733] + xx[864]; |
| 14720 | xx[730] = xx[732] + xx[865]; |
| 14721 | xx[731] = sqrt(xx[719] * xx[719] + xx[729] * xx[729] + xx[730] * xx[730] + xx |
| 14722 | [718] * xx[718]); |
| 14723 | if (xx[28] > xx[731]) |
| 14724 | xx[731] = xx[28]; |
| 14725 | xx[732] = xx[718] / xx[731]; |
| 14726 | xx[718] = xx[719] / xx[731]; |
| 14727 | xx[719] = xx[21] * xx[732] - xx[25] * xx[718]; |
| 14728 | xx[733] = xx[730] / xx[731]; |
| 14729 | xx[730] = xx[729] / xx[731]; |
| 14730 | xx[729] = xx[21] * xx[733] + xx[25] * xx[730]; |
| 14731 | xx[731] = - xx[729]; |
| 14732 | xx[789] = xx[25] * xx[733] - xx[21] * xx[730]; |
| 14733 | xx[825] = - xx[789]; |
| 14734 | xx[846] = xx[21] * xx[718] + xx[25] * xx[732]; |
| 14735 | xx[847] = - xx[846]; |
| 14736 | xx[859] = xx[719]; |
| 14737 | xx[860] = xx[731]; |
| 14738 | xx[861] = xx[825]; |
| 14739 | xx[862] = xx[847]; |
| 14740 | pm_math_quatCompose(xx + 855, xx + 859, xx + 863); |
| 14741 | xx[855] = (xx[789] * xx[719] + xx[846] * xx[729]) * xx[80]; |
| 14742 | xx[856] = xx[80] * (xx[789] * xx[846] - xx[719] * xx[729]); |
| 14743 | xx[857] = xx[22] - (xx[729] * xx[729] + xx[789] * xx[789]) * xx[80]; |
| 14744 | pm_math_cross3(xx + 855, xx + 267, xx + 867); |
| 14745 | pm_math_quatXform(xx + 863, xx + 867, xx + 855); |
| 14746 | pm_math_quatXform(xx + 859, xx + 126, xx + 863); |
| 14747 | xx[848] = xx[864] * xx[648] - xx[613] * xx[863]; |
| 14748 | xx[858] = xx[746] * xx[613] - xx[747] * xx[648]; |
| 14749 | xx[866] = xx[80] * xx[648] * xx[848] - (xx[864] + xx[80] * xx[858] * xx[648]) |
| 14750 | - xx[747]; |
| 14751 | xx[867] = xx[863] + xx[80] * xx[613] * xx[848] - xx[80] * xx[858] * xx[613] + |
| 14752 | xx[746]; |
| 14753 | xx[848] = xx[867] * xx[722]; |
| 14754 | xx[858] = xx[866] * xx[722]; |
| 14755 | xx[868] = xx[867] * xx[647] + xx[866] * xx[675]; |
| 14756 | xx[869] = xx[848]; |
| 14757 | xx[870] = - xx[858]; |
| 14758 | xx[871] = - xx[868]; |
| 14759 | pm_math_cross3(xx + 752, xx + 869, xx + 872); |
| 14760 | xx[875] = - (xx[605] + xx[624]); |
| 14761 | xx[876] = xx[668]; |
| 14762 | xx[877] = xx[670]; |
| 14763 | xx[878] = xx[712]; |
| 14764 | pm_math_quatCompose(xx + 875, xx + 859, xx + 879); |
| 14765 | pm_math_quatXform(xx + 879, xx + 280, xx + 752); |
| 14766 | pm_math_quatXform(xx + 859, xx + 167, xx + 869); |
| 14767 | pm_math_quatXform(xx + 875, xx + 869, xx + 883); |
| 14768 | pm_math_quatXform(xx + 879, xx + 297, xx + 869); |
| 14769 | pm_math_quatXform(xx + 859, xx + 176, xx + 886); |
| 14770 | pm_math_quatXform(xx + 875, xx + 886, xx + 859); |
| 14771 | xx[605] = xx[102] * xx[882]; |
| 14772 | xx[624] = xx[102] * xx[880] + xx[123] * xx[881]; |
| 14773 | xx[886] = - xx[605]; |
| 14774 | xx[887] = - (xx[123] * xx[882]); |
| 14775 | xx[888] = xx[624]; |
| 14776 | pm_math_cross3(xx + 880, xx + 886, xx + 889); |
| 14777 | xx[886] = xx[731]; |
| 14778 | xx[887] = xx[825]; |
| 14779 | xx[888] = xx[847]; |
| 14780 | xx[668] = xx[117] * xx[846]; |
| 14781 | xx[670] = xx[119] * xx[846]; |
| 14782 | xx[712] = xx[117] * xx[729] + xx[789] * xx[119]; |
| 14783 | xx[892] = xx[668]; |
| 14784 | xx[893] = xx[670]; |
| 14785 | xx[894] = - xx[712]; |
| 14786 | pm_math_cross3(xx + 886, xx + 892, xx + 895); |
| 14787 | xx[886] = xx[80] * (xx[895] + xx[668] * xx[719]) - xx[119]; |
| 14788 | xx[887] = xx[117] + (xx[670] * xx[719] + xx[896]) * xx[80]; |
| 14789 | xx[888] = (xx[897] - xx[712] * xx[719]) * xx[80]; |
| 14790 | pm_math_quatXform(xx + 875, xx + 886, xx + 892); |
| 14791 | xx[668] = state[51] + xx[771]; |
| 14792 | xx[670] = xx[668] * xx[2]; |
| 14793 | xx[712] = cos(xx[670]); |
| 14794 | xx[719] = sin(xx[670]); |
| 14795 | xx[670] = xx[712] * xx[174] + xx[719] * xx[110]; |
| 14796 | xx[729] = xx[138] * xx[712] - xx[719] * xx[173]; |
| 14797 | xx[731] = xx[712] * xx[173] + xx[138] * xx[719]; |
| 14798 | xx[138] = xx[712] * xx[110] - xx[719] * xx[174]; |
| 14799 | xx[755] = xx[670]; |
| 14800 | xx[756] = xx[729]; |
| 14801 | xx[757] = xx[731]; |
| 14802 | xx[758] = xx[138]; |
| 14803 | pm_math_quatCompose(xx + 154, xx + 755, xx + 759); |
| 14804 | pm_math_quatCompose(xx + 150, xx + 759, xx + 763); |
| 14805 | pm_math_quatCompose(xx + 146, xx + 763, xx + 767); |
| 14806 | xx[146] = xx[80] * (xx[764] * xx[766] - xx[763] * xx[765]); |
| 14807 | xx[147] = (xx[763] * xx[764] + xx[765] * xx[766]) * xx[80]; |
| 14808 | xx[148] = xx[22] - (xx[764] * xx[764] + xx[765] * xx[765]) * xx[80]; |
| 14809 | pm_math_cross3(xx + 146, xx + 84, xx + 763); |
| 14810 | pm_math_quatXform(xx + 767, xx + 763, xx + 146); |
| 14811 | xx[110] = xx[54] * xx[719]; |
| 14812 | xx[149] = xx[110] * xx[719]; |
| 14813 | xx[173] = xx[738] * xx[719]; |
| 14814 | xx[174] = xx[712] * xx[173]; |
| 14815 | xx[763] = xx[20] - (xx[80] * (xx[149] - xx[174]) - xx[54]); |
| 14816 | xx[764] = xx[712] * xx[110]; |
| 14817 | xx[110] = xx[173] * xx[719]; |
| 14818 | xx[173] = (xx[764] + xx[110]) * xx[80] - xx[738]; |
| 14819 | xx[765] = xx[763]; |
| 14820 | xx[766] = - xx[173]; |
| 14821 | xx[767] = xx[791]; |
| 14822 | pm_math_quatXform(xx + 215, xx + 765, xx + 768); |
| 14823 | xx[771] = xx[768] - xx[236]; |
| 14824 | xx[772] = xx[769] + xx[200]; |
| 14825 | xx[768] = xx[770] - xx[233]; |
| 14826 | xx[773] = xx[771]; |
| 14827 | xx[774] = xx[772]; |
| 14828 | xx[775] = xx[768]; |
| 14829 | pm_math_quatXform(xx + 154, xx + 773, xx + 776); |
| 14830 | xx[154] = xx[776] + xx[220]; |
| 14831 | xx[155] = xx[777] + xx[235]; |
| 14832 | xx[156] = xx[778] + xx[238]; |
| 14833 | pm_math_quatXform(xx + 150, xx + 154, xx + 773); |
| 14834 | xx[157] = xx[774] + xx[246]; |
| 14835 | xx[769] = xx[773] + xx[245]; |
| 14836 | xx[770] = xx[157] * xx[35] - xx[769] * xx[32]; |
| 14837 | xx[773] = xx[80] * xx[35] * xx[770] - (xx[157] - xx[259]) - xx[135]; |
| 14838 | xx[157] = xx[769] + xx[80] * xx[32] * xx[770] + xx[248] - xx[131]; |
| 14839 | xx[248] = xx[157] * xx[15]; |
| 14840 | xx[259] = xx[773] * xx[15]; |
| 14841 | xx[769] = xx[157] * xx[3] - xx[773] * xx[7]; |
| 14842 | xx[774] = - xx[248]; |
| 14843 | xx[775] = xx[259]; |
| 14844 | xx[776] = xx[769]; |
| 14845 | pm_math_cross3(xx + 139, xx + 774, xx + 777); |
| 14846 | pm_math_quatCompose(xx + 287, xx + 759, xx + 780); |
| 14847 | xx[139] = xx[4] * xx[762]; |
| 14848 | xx[140] = xx[4] * xx[760] + xx[761]; |
| 14849 | xx[774] = xx[139]; |
| 14850 | xx[775] = xx[762]; |
| 14851 | xx[776] = - xx[140]; |
| 14852 | pm_math_cross3(xx + 760, xx + 774, xx + 784); |
| 14853 | xx[141] = xx[759] * xx[762]; |
| 14854 | xx[774] = xx[22] + (xx[784] - xx[759] * xx[139]) * xx[80]; |
| 14855 | xx[775] = xx[80] * (xx[785] - xx[141]) - xx[4]; |
| 14856 | xx[776] = xx[80] * (xx[786] + xx[759] * xx[140]); |
| 14857 | pm_math_cross3(xx + 774, xx + 84, xx + 784); |
| 14858 | pm_math_quatXform(xx + 780, xx + 784, xx + 774); |
| 14859 | xx[140] = - (xx[156] * xx[4]); |
| 14860 | xx[784] = xx[140]; |
| 14861 | xx[785] = - xx[156]; |
| 14862 | xx[786] = xx[155] + xx[154] * xx[4]; |
| 14863 | pm_math_quatXform(xx + 150, xx + 784, xx + 886); |
| 14864 | xx[784] = xx[886] + xx[263]; |
| 14865 | xx[785] = xx[887] + xx[264]; |
| 14866 | xx[786] = xx[888] + xx[265]; |
| 14867 | pm_math_quatXform(xx + 283, xx + 784, xx + 263); |
| 14868 | xx[770] = xx[760] - xx[4] * xx[761]; |
| 14869 | xx[784] = - xx[762]; |
| 14870 | xx[785] = xx[139]; |
| 14871 | xx[786] = xx[770]; |
| 14872 | pm_math_cross3(xx + 760, xx + 784, xx + 886); |
| 14873 | xx[784] = xx[4] + (xx[141] + xx[886]) * xx[80]; |
| 14874 | xx[785] = xx[22] + xx[80] * (xx[887] - xx[4] * xx[141]); |
| 14875 | xx[786] = xx[80] * (xx[888] - xx[759] * xx[770]); |
| 14876 | pm_math_cross3(xx + 784, xx + 84, xx + 886); |
| 14877 | pm_math_quatXform(xx + 780, xx + 886, xx + 784); |
| 14878 | xx[886] = xx[156]; |
| 14879 | xx[887] = xx[140]; |
| 14880 | xx[888] = xx[155] * xx[4] - xx[154]; |
| 14881 | pm_math_quatXform(xx + 150, xx + 886, xx + 139); |
| 14882 | xx[150] = xx[139] + xx[46]; |
| 14883 | xx[151] = xx[140] + xx[47]; |
| 14884 | xx[152] = xx[141] + xx[48]; |
| 14885 | pm_math_quatXform(xx + 283, xx + 150, xx + 46); |
| 14886 | xx[139] = xx[80] * (xx[760] * xx[762] - xx[759] * xx[761]); |
| 14887 | xx[140] = (xx[759] * xx[760] + xx[761] * xx[762]) * xx[80]; |
| 14888 | xx[141] = xx[22] - (xx[760] * xx[760] + xx[761] * xx[761]) * xx[80]; |
| 14889 | pm_math_cross3(xx + 139, xx + 84, xx + 150); |
| 14890 | pm_math_quatXform(xx + 780, xx + 150, xx + 139); |
| 14891 | xx[150] = xx[154] * xx[70]; |
| 14892 | xx[151] = xx[155] * xx[70]; |
| 14893 | xx[70] = xx[154] * xx[26] + xx[155] * xx[68]; |
| 14894 | xx[759] = xx[150]; |
| 14895 | xx[760] = xx[151]; |
| 14896 | xx[761] = - xx[70]; |
| 14897 | pm_math_cross3(xx + 183, xx + 759, xx + 780); |
| 14898 | xx[183] = xx[80] * (xx[780] + xx[150] * xx[24]) + xx[244] - xx[155] - xx[119]; |
| 14899 | xx[184] = xx[154] + xx[80] * (xx[781] + xx[151] * xx[24]) + xx[69] + xx[117]; |
| 14900 | xx[185] = (xx[782] - xx[70] * xx[24]) * xx[80] + xx[75]; |
| 14901 | pm_math_quatXform(xx + 283, xx + 183, xx + 68); |
| 14902 | pm_math_quatCompose(xx + 320, xx + 755, xx + 150); |
| 14903 | xx[24] = xx[731] * xx[731]; |
| 14904 | xx[26] = xx[138] * xx[138]; |
| 14905 | xx[75] = xx[731] * xx[729]; |
| 14906 | xx[154] = xx[670] * xx[138]; |
| 14907 | xx[155] = xx[670] * xx[731]; |
| 14908 | xx[156] = xx[138] * xx[729]; |
| 14909 | xx[183] = xx[22] - (xx[24] + xx[26]) * xx[80]; |
| 14910 | xx[184] = xx[80] * (xx[75] - xx[154]); |
| 14911 | xx[185] = (xx[155] + xx[156]) * xx[80]; |
| 14912 | pm_math_cross3(xx + 183, xx + 84, xx + 755); |
| 14913 | pm_math_quatXform(xx + 150, xx + 755, xx + 183); |
| 14914 | xx[244] = xx[772] * xx[44]; |
| 14915 | xx[755] = xx[768] * xx[83]; |
| 14916 | xx[756] = xx[244] + xx[755]; |
| 14917 | xx[757] = xx[772] * xx[42]; |
| 14918 | xx[758] = xx[768] * xx[42]; |
| 14919 | xx[759] = - xx[756]; |
| 14920 | xx[760] = - xx[757]; |
| 14921 | xx[761] = - xx[758]; |
| 14922 | pm_math_cross3(xx + 333, xx + 759, xx + 780); |
| 14923 | xx[759] = xx[80] * (xx[780] - xx[756] * xx[40]) + xx[336]; |
| 14924 | xx[760] = xx[80] * (xx[781] - xx[757] * xx[40]) + xx[278] - xx[768] - xx[74]; |
| 14925 | xx[761] = xx[772] + xx[80] * (xx[782] - xx[758] * xx[40]) + xx[279] - xx[73]; |
| 14926 | pm_math_quatXform(xx + 287, xx + 759, xx + 756); |
| 14927 | xx[278] = xx[729] * xx[729]; |
| 14928 | xx[279] = xx[731] * xx[138]; |
| 14929 | xx[138] = xx[670] * xx[729]; |
| 14930 | xx[759] = (xx[154] + xx[75]) * xx[80]; |
| 14931 | xx[760] = xx[22] - (xx[26] + xx[278]) * xx[80]; |
| 14932 | xx[761] = xx[80] * (xx[279] - xx[138]); |
| 14933 | pm_math_cross3(xx + 759, xx + 84, xx + 780); |
| 14934 | pm_math_quatXform(xx + 150, xx + 780, xx + 759); |
| 14935 | xx[26] = xx[771] * xx[44]; |
| 14936 | xx[75] = xx[771] * xx[42]; |
| 14937 | xx[42] = xx[75] - xx[755]; |
| 14938 | xx[154] = xx[768] * xx[44]; |
| 14939 | xx[780] = xx[26]; |
| 14940 | xx[781] = xx[42]; |
| 14941 | xx[782] = xx[154]; |
| 14942 | pm_math_cross3(xx + 333, xx + 780, xx + 886); |
| 14943 | xx[780] = xx[768] + (xx[26] * xx[40] + xx[886]) * xx[80] + xx[274] + xx[74]; |
| 14944 | xx[781] = (xx[42] * xx[40] + xx[887]) * xx[80] + xx[134]; |
| 14945 | xx[782] = (xx[154] * xx[40] + xx[888]) * xx[80] + xx[179] - xx[771] - xx[72]; |
| 14946 | pm_math_quatXform(xx + 287, xx + 780, xx + 886); |
| 14947 | xx[780] = xx[80] * (xx[156] - xx[155]); |
| 14948 | xx[781] = (xx[138] + xx[279]) * xx[80]; |
| 14949 | xx[782] = xx[22] - (xx[278] + xx[24]) * xx[80]; |
| 14950 | pm_math_cross3(xx + 780, xx + 84, xx + 154); |
| 14951 | pm_math_quatXform(xx + 150, xx + 154, xx + 780); |
| 14952 | xx[24] = xx[771] * xx[83]; |
| 14953 | xx[26] = xx[772] * xx[83]; |
| 14954 | xx[42] = xx[75] - xx[244]; |
| 14955 | xx[150] = xx[24]; |
| 14956 | xx[151] = xx[26]; |
| 14957 | xx[152] = xx[42]; |
| 14958 | pm_math_cross3(xx + 333, xx + 150, xx + 153); |
| 14959 | xx[150] = (xx[24] * xx[40] + xx[153]) * xx[80] + xx[133] - xx[772] + xx[73]; |
| 14960 | xx[151] = xx[771] + (xx[26] * xx[40] + xx[154]) * xx[80] + xx[64] + xx[72]; |
| 14961 | xx[152] = (xx[42] * xx[40] + xx[155]) * xx[80] + xx[82]; |
| 14962 | pm_math_quatXform(xx + 287, xx + 150, xx + 153); |
| 14963 | xx[24] = xx[712] * xx[349] + xx[352] * xx[719]; |
| 14964 | xx[26] = xx[712] * xx[350] - xx[351] * xx[719]; |
| 14965 | xx[40] = xx[712] * xx[351] + xx[350] * xx[719]; |
| 14966 | xx[42] = xx[712] * xx[352] - xx[349] * xx[719]; |
| 14967 | xx[333] = xx[24]; |
| 14968 | xx[334] = xx[26]; |
| 14969 | xx[335] = xx[40]; |
| 14970 | xx[336] = xx[42]; |
| 14971 | xx[44] = xx[57] * xx[719]; |
| 14972 | xx[64] = xx[80] * xx[712] * xx[44]; |
| 14973 | xx[75] = xx[80] * xx[44] * xx[719] - xx[57]; |
| 14974 | xx[150] = xx[74] * xx[64] + xx[55]; |
| 14975 | xx[151] = xx[106] + xx[74] * xx[75]; |
| 14976 | xx[152] = xx[73] * xx[75] - xx[72] * xx[64]; |
| 14977 | pm_math_quatXform(xx + 333, xx + 150, xx + 770); |
| 14978 | xx[150] = - (xx[63] * xx[173]); |
| 14979 | xx[151] = - (xx[63] * xx[763] + xx[30]); |
| 14980 | xx[152] = xx[57] * xx[173]; |
| 14981 | pm_math_quatXform(xx + 215, xx + 150, xx + 895); |
| 14982 | xx[150] = xx[895] + xx[136]; |
| 14983 | xx[151] = xx[896] + xx[137] - xx[67]; |
| 14984 | xx[152] = xx[897] - xx[175]; |
| 14985 | pm_math_quatXform(xx + 320, xx + 150, xx + 136); |
| 14986 | xx[150] = xx[26]; |
| 14987 | xx[151] = xx[40]; |
| 14988 | xx[152] = xx[42]; |
| 14989 | xx[44] = xx[72] * xx[42]; |
| 14990 | xx[64] = xx[73] * xx[42]; |
| 14991 | xx[42] = xx[72] * xx[26] - xx[40] * xx[73]; |
| 14992 | xx[215] = - xx[44]; |
| 14993 | xx[216] = xx[64]; |
| 14994 | xx[217] = xx[42]; |
| 14995 | pm_math_cross3(xx + 150, xx + 215, xx + 895); |
| 14996 | xx[26] = xx[738] - xx[80] * (xx[764] + xx[110]); |
| 14997 | xx[40] = xx[54] + (xx[174] - xx[149]) * xx[80]; |
| 14998 | xx[75] = xx[352] * xx[40]; |
| 14999 | xx[82] = xx[26] * xx[352]; |
| 15000 | xx[83] = xx[350] * xx[40] + xx[26] * xx[351]; |
| 15001 | xx[149] = xx[75]; |
| 15002 | xx[150] = xx[82]; |
| 15003 | xx[151] = - xx[83]; |
| 15004 | pm_math_cross3(xx + 350, xx + 149, xx + 173); |
| 15005 | xx[898] = xx[0]; |
| 15006 | xx[899] = xx[0]; |
| 15007 | xx[900] = xx[0]; |
| 15008 | xx[901] = xx[0]; |
| 15009 | xx[902] = xx[190] + xx[260] + xx[80] * (xx[271] - xx[251] * xx[14]); |
| 15010 | xx[903] = xx[300] + xx[303]; |
| 15011 | xx[904] = xx[306] + xx[309]; |
| 15012 | xx[905] = xx[316] + xx[294]; |
| 15013 | xx[906] = xx[291] + xx[337]; |
| 15014 | xx[907] = xx[340] + xx[346]; |
| 15015 | xx[908] = xx[343] + xx[329]; |
| 15016 | xx[909] = xx[357] + xx[360]; |
| 15017 | xx[910] = xx[80] * (xx[369] - xx[31] * xx[103]) + xx[33] + xx[80] * (xx[363] - |
| 15018 | xx[349] * xx[180]) + xx[73]; |
| 15019 | xx[911] = xx[0]; |
| 15020 | xx[912] = xx[0]; |
| 15021 | xx[913] = xx[0]; |
| 15022 | xx[914] = xx[0]; |
| 15023 | xx[915] = xx[0]; |
| 15024 | xx[916] = xx[0]; |
| 15025 | xx[917] = xx[0]; |
| 15026 | xx[918] = xx[0]; |
| 15027 | xx[919] = - (xx[375] + xx[388] + xx[80] * (xx[394] + xx[241] * xx[378])); |
| 15028 | xx[920] = - (xx[275] + xx[406]); |
| 15029 | xx[921] = - (xx[391] + xx[380]); |
| 15030 | xx[922] = - (xx[80] * (xx[423] - xx[416] * xx[187]) + xx[426] - xx[123]); |
| 15031 | xx[923] = xx[0]; |
| 15032 | xx[924] = xx[0]; |
| 15033 | xx[925] = xx[0]; |
| 15034 | xx[926] = xx[0]; |
| 15035 | xx[927] = xx[0]; |
| 15036 | xx[928] = xx[0]; |
| 15037 | xx[929] = xx[0]; |
| 15038 | xx[930] = xx[0]; |
| 15039 | xx[931] = xx[0]; |
| 15040 | xx[932] = xx[0]; |
| 15041 | xx[933] = xx[0]; |
| 15042 | xx[934] = xx[0]; |
| 15043 | xx[935] = xx[191] + xx[258] + (xx[255] * xx[14] + xx[272]) * xx[80]; |
| 15044 | xx[936] = xx[301] + xx[304]; |
| 15045 | xx[937] = xx[307] + xx[310]; |
| 15046 | xx[938] = xx[317] + xx[295]; |
| 15047 | xx[939] = xx[292] + xx[338]; |
| 15048 | xx[940] = xx[341] + xx[347]; |
| 15049 | xx[941] = xx[344] + xx[330]; |
| 15050 | xx[942] = xx[358] + xx[361]; |
| 15051 | xx[943] = (xx[31] * xx[111] + xx[370]) * xx[80] + xx[99] + (xx[349] * xx[181] |
| 15052 | + xx[364]) * xx[80] + xx[72]; |
| 15053 | xx[944] = xx[0]; |
| 15054 | xx[945] = xx[0]; |
| 15055 | xx[946] = xx[0]; |
| 15056 | xx[947] = xx[0]; |
| 15057 | xx[948] = xx[0]; |
| 15058 | xx[949] = xx[0]; |
| 15059 | xx[950] = xx[0]; |
| 15060 | xx[951] = xx[0]; |
| 15061 | xx[952] = - (xx[376] + xx[389] + (xx[395] - xx[241] * xx[387]) * xx[80]); |
| 15062 | xx[953] = - (xx[276] + xx[407]); |
| 15063 | xx[954] = - (xx[392] + xx[381]); |
| 15064 | xx[955] = - ((xx[424] - xx[123] * xx[416] * xx[419]) * xx[80] + xx[427] + xx |
| 15065 | [102]); |
| 15066 | xx[956] = xx[0]; |
| 15067 | xx[957] = xx[0]; |
| 15068 | xx[958] = xx[0]; |
| 15069 | xx[959] = xx[0]; |
| 15070 | xx[960] = xx[0]; |
| 15071 | xx[961] = xx[0]; |
| 15072 | xx[962] = xx[0]; |
| 15073 | xx[963] = xx[0]; |
| 15074 | xx[964] = xx[0]; |
| 15075 | xx[965] = xx[0]; |
| 15076 | xx[966] = xx[0]; |
| 15077 | xx[967] = xx[0]; |
| 15078 | xx[968] = xx[192] + (xx[14] * xx[261] + xx[273]) * xx[80]; |
| 15079 | xx[969] = xx[302] + xx[305]; |
| 15080 | xx[970] = xx[308] + xx[311]; |
| 15081 | xx[971] = xx[318] + xx[296]; |
| 15082 | xx[972] = xx[293] + xx[339]; |
| 15083 | xx[973] = xx[342] + xx[348]; |
| 15084 | xx[974] = xx[345] + xx[331]; |
| 15085 | xx[975] = xx[359] + xx[362]; |
| 15086 | xx[976] = (xx[31] * xx[100] + xx[371]) * xx[80] + (xx[349] * xx[182] + xx[365]) |
| 15087 | * xx[80]; |
| 15088 | xx[977] = xx[0]; |
| 15089 | xx[978] = xx[0]; |
| 15090 | xx[979] = xx[0]; |
| 15091 | xx[980] = xx[0]; |
| 15092 | xx[981] = xx[0]; |
| 15093 | xx[982] = xx[0]; |
| 15094 | xx[983] = xx[0]; |
| 15095 | xx[984] = xx[0]; |
| 15096 | xx[985] = - (xx[377] + (xx[396] - xx[241] * xx[390]) * xx[80]); |
| 15097 | xx[986] = - (xx[277] + xx[408]); |
| 15098 | xx[987] = - (xx[393] + xx[382]); |
| 15099 | xx[988] = - ((xx[416] * xx[189] + xx[425]) * xx[80] + xx[428]); |
| 15100 | xx[989] = xx[0]; |
| 15101 | xx[990] = xx[0]; |
| 15102 | xx[991] = xx[0]; |
| 15103 | xx[992] = xx[0]; |
| 15104 | xx[993] = xx[0]; |
| 15105 | xx[994] = xx[0]; |
| 15106 | xx[995] = xx[0]; |
| 15107 | xx[996] = xx[0]; |
| 15108 | xx[997] = xx[0]; |
| 15109 | xx[998] = xx[0]; |
| 15110 | xx[999] = xx[0]; |
| 15111 | xx[1000] = xx[0]; |
| 15112 | xx[1001] = xx[420] + xx[450] + xx[80] * (xx[459] - xx[443] * xx[14]); |
| 15113 | xx[1002] = xx[468] + xx[477]; |
| 15114 | xx[1003] = xx[474] + xx[453]; |
| 15115 | xx[1004] = xx[480] + xx[437]; |
| 15116 | xx[1005] = xx[483] + xx[488]; |
| 15117 | xx[1006] = xx[493] + xx[503]; |
| 15118 | xx[1007] = xx[496] + xx[464]; |
| 15119 | xx[1008] = xx[507] + xx[516]; |
| 15120 | xx[1009] = xx[0]; |
| 15121 | xx[1010] = xx[80] * (xx[519] + xx[433] * xx[199]) + xx[513] - xx[73]; |
| 15122 | xx[1011] = xx[0]; |
| 15123 | xx[1012] = xx[0]; |
| 15124 | xx[1013] = xx[0]; |
| 15125 | xx[1014] = - (xx[429] + xx[472] + xx[80] * (xx[537] - xx[432] * xx[315])); |
| 15126 | xx[1015] = - (xx[413] + xx[544]); |
| 15127 | xx[1016] = - (xx[529] + xx[522]); |
| 15128 | xx[1017] = - (xx[80] * (xx[559] - xx[555] * xx[249]) + xx[562] - xx[123]); |
| 15129 | xx[1018] = xx[0]; |
| 15130 | xx[1019] = xx[0]; |
| 15131 | xx[1020] = xx[0]; |
| 15132 | xx[1021] = xx[0]; |
| 15133 | xx[1022] = xx[0]; |
| 15134 | xx[1023] = xx[0]; |
| 15135 | xx[1024] = xx[0]; |
| 15136 | xx[1025] = xx[0]; |
| 15137 | xx[1026] = xx[0]; |
| 15138 | xx[1027] = xx[0]; |
| 15139 | xx[1028] = xx[0]; |
| 15140 | xx[1029] = xx[0]; |
| 15141 | xx[1030] = xx[0]; |
| 15142 | xx[1031] = xx[0]; |
| 15143 | xx[1032] = xx[0]; |
| 15144 | xx[1033] = xx[0]; |
| 15145 | xx[1034] = xx[421] + xx[441] + (xx[444] * xx[14] + xx[460]) * xx[80]; |
| 15146 | xx[1035] = xx[469] + xx[478]; |
| 15147 | xx[1036] = xx[475] + xx[454]; |
| 15148 | xx[1037] = xx[481] + xx[438]; |
| 15149 | xx[1038] = xx[484] + xx[489]; |
| 15150 | xx[1039] = xx[494] + xx[504]; |
| 15151 | xx[1040] = xx[497] + xx[465]; |
| 15152 | xx[1041] = xx[508] + xx[517]; |
| 15153 | xx[1042] = xx[0]; |
| 15154 | xx[1043] = (xx[520] - xx[73] * xx[433] * xx[436]) * xx[80] + xx[514] - xx[72]; |
| 15155 | xx[1044] = xx[0]; |
| 15156 | xx[1045] = xx[0]; |
| 15157 | xx[1046] = xx[0]; |
| 15158 | xx[1047] = - (xx[430] + xx[486] + (xx[471] * xx[315] + xx[538]) * xx[80]); |
| 15159 | xx[1048] = - (xx[414] + xx[545]); |
| 15160 | xx[1049] = - (xx[530] + xx[523]); |
| 15161 | xx[1050] = - ((xx[560] - xx[123] * xx[555] * xx[558]) * xx[80] + xx[563] + xx |
| 15162 | [102]); |
| 15163 | xx[1051] = xx[0]; |
| 15164 | xx[1052] = xx[0]; |
| 15165 | xx[1053] = xx[0]; |
| 15166 | xx[1054] = xx[0]; |
| 15167 | xx[1055] = xx[0]; |
| 15168 | xx[1056] = xx[0]; |
| 15169 | xx[1057] = xx[0]; |
| 15170 | xx[1058] = xx[0]; |
| 15171 | xx[1059] = xx[0]; |
| 15172 | xx[1060] = xx[0]; |
| 15173 | xx[1061] = xx[0]; |
| 15174 | xx[1062] = xx[0]; |
| 15175 | xx[1063] = xx[0]; |
| 15176 | xx[1064] = xx[0]; |
| 15177 | xx[1065] = xx[0]; |
| 15178 | xx[1066] = xx[0]; |
| 15179 | xx[1067] = xx[422] + (xx[14] * xx[452] + xx[461]) * xx[80]; |
| 15180 | xx[1068] = xx[470] + xx[479]; |
| 15181 | xx[1069] = xx[476] + xx[455]; |
| 15182 | xx[1070] = xx[482] + xx[439]; |
| 15183 | xx[1071] = xx[485] + xx[490]; |
| 15184 | xx[1072] = xx[495] + xx[505]; |
| 15185 | xx[1073] = xx[498] + xx[466]; |
| 15186 | xx[1074] = xx[509] + xx[518]; |
| 15187 | xx[1075] = xx[0]; |
| 15188 | xx[1076] = (xx[433] * xx[237] + xx[521]) * xx[80] + xx[515]; |
| 15189 | xx[1077] = xx[0]; |
| 15190 | xx[1078] = xx[0]; |
| 15191 | xx[1079] = xx[0]; |
| 15192 | xx[1080] = - (xx[431] + (xx[487] * xx[315] + xx[539]) * xx[80]); |
| 15193 | xx[1081] = - (xx[415] + xx[546]); |
| 15194 | xx[1082] = - (xx[531] + xx[524]); |
| 15195 | xx[1083] = - ((xx[555] * xx[332] + xx[561]) * xx[80] + xx[564]); |
| 15196 | xx[1084] = xx[0]; |
| 15197 | xx[1085] = xx[0]; |
| 15198 | xx[1086] = xx[0]; |
| 15199 | xx[1087] = xx[0]; |
| 15200 | xx[1088] = xx[0]; |
| 15201 | xx[1089] = xx[0]; |
| 15202 | xx[1090] = xx[0]; |
| 15203 | xx[1091] = xx[0]; |
| 15204 | xx[1092] = xx[0]; |
| 15205 | xx[1093] = xx[0]; |
| 15206 | xx[1094] = xx[0]; |
| 15207 | xx[1095] = xx[0]; |
| 15208 | xx[1096] = xx[0]; |
| 15209 | xx[1097] = xx[0]; |
| 15210 | xx[1098] = xx[0]; |
| 15211 | xx[1099] = xx[0]; |
| 15212 | xx[1100] = xx[549] + xx[582] + xx[80] * (xx[588] - xx[525] * xx[14]); |
| 15213 | xx[1101] = xx[591] + xx[606]; |
| 15214 | xx[1102] = xx[610] + xx[585]; |
| 15215 | xx[1103] = xx[598] + xx[573]; |
| 15216 | xx[1104] = xx[615] + xx[620]; |
| 15217 | xx[1105] = xx[625] + xx[631]; |
| 15218 | xx[1106] = xx[628] + xx[602]; |
| 15219 | xx[1107] = xx[634] + xx[644]; |
| 15220 | xx[1108] = xx[0]; |
| 15221 | xx[1109] = xx[0]; |
| 15222 | xx[1110] = xx[80] * (xx[649] - xx[569] * xx[367]) + xx[639] + xx[73]; |
| 15223 | xx[1111] = xx[0]; |
| 15224 | xx[1112] = xx[0]; |
| 15225 | xx[1113] = xx[0]; |
| 15226 | xx[1114] = xx[0]; |
| 15227 | xx[1115] = xx[0]; |
| 15228 | xx[1116] = xx[0]; |
| 15229 | xx[1117] = xx[0]; |
| 15230 | xx[1118] = xx[0]; |
| 15231 | xx[1119] = xx[0]; |
| 15232 | xx[1120] = xx[0]; |
| 15233 | xx[1121] = - (xx[565] + xx[618] + xx[80] * (xx[662] + xx[501] * xx[568])); |
| 15234 | xx[1122] = - (xx[552] + xx[665]); |
| 15235 | xx[1123] = - (xx[659] + xx[652]); |
| 15236 | xx[1124] = - (xx[80] * (xx[686] - xx[692] * xx[373]) + xx[696] - xx[123]); |
| 15237 | xx[1125] = xx[0]; |
| 15238 | xx[1126] = xx[0]; |
| 15239 | xx[1127] = xx[0]; |
| 15240 | xx[1128] = xx[0]; |
| 15241 | xx[1129] = xx[0]; |
| 15242 | xx[1130] = xx[0]; |
| 15243 | xx[1131] = xx[0]; |
| 15244 | xx[1132] = xx[0]; |
| 15245 | xx[1133] = xx[550] + xx[510] + (xx[577] * xx[14] + xx[589]) * xx[80]; |
| 15246 | xx[1134] = xx[592] + xx[607]; |
| 15247 | xx[1135] = xx[611] + xx[586]; |
| 15248 | xx[1136] = xx[599] + xx[574]; |
| 15249 | xx[1137] = xx[616] + xx[621]; |
| 15250 | xx[1138] = xx[626] + xx[632]; |
| 15251 | xx[1139] = xx[629] + xx[603]; |
| 15252 | xx[1140] = xx[635] + xx[645]; |
| 15253 | xx[1141] = xx[0]; |
| 15254 | xx[1142] = xx[0]; |
| 15255 | xx[1143] = (xx[73] * xx[569] * xx[572] + xx[650]) * xx[80] + xx[640] + xx[72]; |
| 15256 | xx[1144] = xx[0]; |
| 15257 | xx[1145] = xx[0]; |
| 15258 | xx[1146] = xx[0]; |
| 15259 | xx[1147] = xx[0]; |
| 15260 | xx[1148] = xx[0]; |
| 15261 | xx[1149] = xx[0]; |
| 15262 | xx[1150] = xx[0]; |
| 15263 | xx[1151] = xx[0]; |
| 15264 | xx[1152] = xx[0]; |
| 15265 | xx[1153] = xx[0]; |
| 15266 | xx[1154] = - (xx[566] + xx[619] + (xx[663] - xx[501] * xx[614]) * xx[80]); |
| 15267 | xx[1155] = - (xx[553] + xx[666]); |
| 15268 | xx[1156] = - (xx[660] + xx[653]); |
| 15269 | xx[1157] = - ((xx[687] - xx[123] * xx[692] * xx[695]) * xx[80] + xx[697] + xx |
| 15270 | [102]); |
| 15271 | xx[1158] = xx[0]; |
| 15272 | xx[1159] = xx[0]; |
| 15273 | xx[1160] = xx[0]; |
| 15274 | xx[1161] = xx[0]; |
| 15275 | xx[1162] = xx[0]; |
| 15276 | xx[1163] = xx[0]; |
| 15277 | xx[1164] = xx[0]; |
| 15278 | xx[1165] = xx[0]; |
| 15279 | xx[1166] = xx[551] + (xx[583] * xx[14] + xx[590]) * xx[80]; |
| 15280 | xx[1167] = xx[593] + xx[608]; |
| 15281 | xx[1168] = xx[612] + xx[587]; |
| 15282 | xx[1169] = xx[600] + xx[575]; |
| 15283 | xx[1170] = xx[617] + xx[622]; |
| 15284 | xx[1171] = xx[627] + xx[633]; |
| 15285 | xx[1172] = xx[630] + xx[604]; |
| 15286 | xx[1173] = xx[636] + xx[646]; |
| 15287 | xx[1174] = xx[0]; |
| 15288 | xx[1175] = xx[0]; |
| 15289 | xx[1176] = (xx[569] * xx[372] + xx[651]) * xx[80] + xx[641]; |
| 15290 | xx[1177] = xx[0]; |
| 15291 | xx[1178] = xx[0]; |
| 15292 | xx[1179] = xx[0]; |
| 15293 | xx[1180] = xx[0]; |
| 15294 | xx[1181] = xx[0]; |
| 15295 | xx[1182] = xx[0]; |
| 15296 | xx[1183] = xx[0]; |
| 15297 | xx[1184] = xx[0]; |
| 15298 | xx[1185] = xx[0]; |
| 15299 | xx[1186] = xx[0]; |
| 15300 | xx[1187] = - (xx[567] + (xx[501] * xx[623] + xx[664]) * xx[80]); |
| 15301 | xx[1188] = - (xx[554] + xx[667]); |
| 15302 | xx[1189] = - (xx[661] + xx[654]); |
| 15303 | xx[1190] = - ((xx[692] * xx[412] + xx[688]) * xx[80] + xx[698]); |
| 15304 | xx[1191] = xx[0]; |
| 15305 | xx[1192] = xx[0]; |
| 15306 | xx[1193] = xx[0]; |
| 15307 | xx[1194] = xx[0]; |
| 15308 | xx[1195] = xx[0]; |
| 15309 | xx[1196] = xx[0]; |
| 15310 | xx[1197] = xx[0]; |
| 15311 | xx[1198] = xx[0]; |
| 15312 | xx[1199] = xx[681] + xx[716] + xx[80] * (xx[726] - xx[674] * xx[14]); |
| 15313 | xx[1200] = xx[742] + xx[748]; |
| 15314 | xx[1201] = xx[739] + xx[792]; |
| 15315 | xx[1202] = xx[723] + xx[707]; |
| 15316 | xx[1203] = xx[795] + xx[801]; |
| 15317 | xx[1204] = xx[798] + xx[807]; |
| 15318 | xx[1205] = xx[804] + xx[734]; |
| 15319 | xx[1206] = xx[810] + xx[816]; |
| 15320 | xx[1207] = xx[0]; |
| 15321 | xx[1208] = xx[0]; |
| 15322 | xx[1209] = xx[0]; |
| 15323 | xx[1210] = xx[80] * (xx[819] - xx[703] * xx[467]) + xx[813] + xx[73]; |
| 15324 | xx[1211] = xx[0]; |
| 15325 | xx[1212] = xx[0]; |
| 15326 | xx[1213] = xx[0]; |
| 15327 | xx[1214] = xx[0]; |
| 15328 | xx[1215] = xx[0]; |
| 15329 | xx[1216] = xx[0]; |
| 15330 | xx[1217] = xx[0]; |
| 15331 | xx[1218] = xx[0]; |
| 15332 | xx[1219] = xx[0]; |
| 15333 | xx[1220] = xx[0]; |
| 15334 | xx[1221] = xx[0]; |
| 15335 | xx[1222] = xx[0]; |
| 15336 | xx[1223] = xx[0]; |
| 15337 | xx[1224] = - (xx[699] + xx[745] + xx[80] * (xx[832] - xx[638] * xx[702])); |
| 15338 | xx[1225] = - (xx[689] + xx[843]); |
| 15339 | xx[1226] = - (xx[829] + xx[822]); |
| 15340 | xx[1227] = - (xx[80] * (xx[849] - xx[839] * xx[500]) + xx[852] - xx[123]); |
| 15341 | xx[1228] = xx[0]; |
| 15342 | xx[1229] = xx[0]; |
| 15343 | xx[1230] = xx[0]; |
| 15344 | xx[1231] = xx[0]; |
| 15345 | xx[1232] = xx[682] + xx[673] + (xx[711] * xx[14] + xx[727]) * xx[80]; |
| 15346 | xx[1233] = xx[743] + xx[749]; |
| 15347 | xx[1234] = xx[740] + xx[793]; |
| 15348 | xx[1235] = xx[724] + xx[708]; |
| 15349 | xx[1236] = xx[796] + xx[802]; |
| 15350 | xx[1237] = xx[799] + xx[808]; |
| 15351 | xx[1238] = xx[805] + xx[735]; |
| 15352 | xx[1239] = xx[811] + xx[817]; |
| 15353 | xx[1240] = xx[0]; |
| 15354 | xx[1241] = xx[0]; |
| 15355 | xx[1242] = xx[0]; |
| 15356 | xx[1243] = (xx[73] * xx[703] * xx[706] + xx[820]) * xx[80] + xx[814] + xx[72]; |
| 15357 | xx[1244] = xx[0]; |
| 15358 | xx[1245] = xx[0]; |
| 15359 | xx[1246] = xx[0]; |
| 15360 | xx[1247] = xx[0]; |
| 15361 | xx[1248] = xx[0]; |
| 15362 | xx[1249] = xx[0]; |
| 15363 | xx[1250] = xx[0]; |
| 15364 | xx[1251] = xx[0]; |
| 15365 | xx[1252] = xx[0]; |
| 15366 | xx[1253] = xx[0]; |
| 15367 | xx[1254] = xx[0]; |
| 15368 | xx[1255] = xx[0]; |
| 15369 | xx[1256] = xx[0]; |
| 15370 | xx[1257] = - (xx[700] + xx[751] + (xx[638] * xx[737] + xx[833]) * xx[80]); |
| 15371 | xx[1258] = - (xx[690] + xx[844]); |
| 15372 | xx[1259] = - (xx[830] + xx[823]); |
| 15373 | xx[1260] = - ((xx[850] - xx[123] * xx[839] * xx[842]) * xx[80] + xx[853] + xx |
| 15374 | [102]); |
| 15375 | xx[1261] = xx[0]; |
| 15376 | xx[1262] = xx[0]; |
| 15377 | xx[1263] = xx[0]; |
| 15378 | xx[1264] = xx[0]; |
| 15379 | xx[1265] = xx[683] + (xx[717] * xx[14] + xx[728]) * xx[80]; |
| 15380 | xx[1266] = xx[744] + xx[750]; |
| 15381 | xx[1267] = xx[741] + xx[794]; |
| 15382 | xx[1268] = xx[725] + xx[709]; |
| 15383 | xx[1269] = xx[797] + xx[803]; |
| 15384 | xx[1270] = xx[800] + xx[809]; |
| 15385 | xx[1271] = xx[806] + xx[736]; |
| 15386 | xx[1272] = xx[812] + xx[818]; |
| 15387 | xx[1273] = xx[0]; |
| 15388 | xx[1274] = xx[0]; |
| 15389 | xx[1275] = xx[0]; |
| 15390 | xx[1276] = (xx[703] * xx[499] + xx[821]) * xx[80] + xx[815]; |
| 15391 | xx[1277] = xx[0]; |
| 15392 | xx[1278] = xx[0]; |
| 15393 | xx[1279] = xx[0]; |
| 15394 | xx[1280] = xx[0]; |
| 15395 | xx[1281] = xx[0]; |
| 15396 | xx[1282] = xx[0]; |
| 15397 | xx[1283] = xx[0]; |
| 15398 | xx[1284] = xx[0]; |
| 15399 | xx[1285] = xx[0]; |
| 15400 | xx[1286] = xx[0]; |
| 15401 | xx[1287] = xx[0]; |
| 15402 | xx[1288] = xx[0]; |
| 15403 | xx[1289] = xx[0]; |
| 15404 | xx[1290] = - (xx[701] + (xx[834] - xx[638] * xx[788]) * xx[80]); |
| 15405 | xx[1291] = - (xx[691] + xx[845]); |
| 15406 | xx[1292] = - (xx[831] + xx[824]); |
| 15407 | xx[1293] = - ((xx[839] * xx[576] + xx[851]) * xx[80] + xx[854]); |
| 15408 | xx[1294] = - (xx[855] + xx[866] + xx[80] * (xx[872] + xx[721] * xx[848])); |
| 15409 | xx[1295] = - (xx[752] + xx[883]); |
| 15410 | xx[1296] = - (xx[869] + xx[859]); |
| 15411 | xx[1297] = - (xx[80] * (xx[889] - xx[879] * xx[605]) + xx[892] - xx[123]); |
| 15412 | xx[1298] = xx[146] + xx[773] + xx[80] * (xx[777] - xx[248] * xx[14]); |
| 15413 | xx[1299] = xx[774] + xx[263]; |
| 15414 | xx[1300] = xx[784] + xx[46]; |
| 15415 | xx[1301] = xx[139] + xx[68]; |
| 15416 | xx[1302] = xx[183] + xx[756]; |
| 15417 | xx[1303] = xx[759] + xx[886]; |
| 15418 | xx[1304] = xx[780] + xx[153]; |
| 15419 | xx[1305] = xx[770] + xx[136]; |
| 15420 | xx[1306] = xx[0]; |
| 15421 | xx[1307] = xx[0]; |
| 15422 | xx[1308] = xx[0]; |
| 15423 | xx[1309] = xx[0]; |
| 15424 | xx[1310] = xx[80] * (xx[895] - xx[24] * xx[44]) + xx[26] + xx[80] * (xx[173] + |
| 15425 | xx[349] * xx[75]) + xx[73]; |
| 15426 | xx[1311] = xx[0]; |
| 15427 | xx[1312] = xx[0]; |
| 15428 | xx[1313] = xx[0]; |
| 15429 | xx[1314] = xx[0]; |
| 15430 | xx[1315] = xx[0]; |
| 15431 | xx[1316] = xx[0]; |
| 15432 | xx[1317] = xx[0]; |
| 15433 | xx[1318] = xx[0]; |
| 15434 | xx[1319] = xx[0]; |
| 15435 | xx[1320] = xx[0]; |
| 15436 | xx[1321] = xx[0]; |
| 15437 | xx[1322] = xx[0]; |
| 15438 | xx[1323] = xx[0]; |
| 15439 | xx[1324] = xx[0]; |
| 15440 | xx[1325] = xx[0]; |
| 15441 | xx[1326] = xx[0]; |
| 15442 | xx[1327] = - (xx[856] + xx[867] + (xx[873] - xx[721] * xx[858]) * xx[80]); |
| 15443 | xx[1328] = - (xx[753] + xx[884]); |
| 15444 | xx[1329] = - (xx[870] + xx[860]); |
| 15445 | xx[1330] = - ((xx[890] - xx[123] * xx[879] * xx[882]) * xx[80] + xx[893] + xx |
| 15446 | [102]); |
| 15447 | xx[1331] = xx[147] + xx[157] + (xx[259] * xx[14] + xx[778]) * xx[80]; |
| 15448 | xx[1332] = xx[775] + xx[264]; |
| 15449 | xx[1333] = xx[785] + xx[47]; |
| 15450 | xx[1334] = xx[140] + xx[69]; |
| 15451 | xx[1335] = xx[184] + xx[757]; |
| 15452 | xx[1336] = xx[760] + xx[887]; |
| 15453 | xx[1337] = xx[781] + xx[154]; |
| 15454 | xx[1338] = xx[771] + xx[137]; |
| 15455 | xx[1339] = xx[0]; |
| 15456 | xx[1340] = xx[0]; |
| 15457 | xx[1341] = xx[0]; |
| 15458 | xx[1342] = xx[0]; |
| 15459 | xx[1343] = (xx[24] * xx[64] + xx[896]) * xx[80] - xx[40] + (xx[349] * xx[82] + |
| 15460 | xx[174]) * xx[80] + xx[72]; |
| 15461 | xx[1344] = xx[0]; |
| 15462 | xx[1345] = xx[0]; |
| 15463 | xx[1346] = xx[0]; |
| 15464 | xx[1347] = xx[0]; |
| 15465 | xx[1348] = xx[0]; |
| 15466 | xx[1349] = xx[0]; |
| 15467 | xx[1350] = xx[0]; |
| 15468 | xx[1351] = xx[0]; |
| 15469 | xx[1352] = xx[0]; |
| 15470 | xx[1353] = xx[0]; |
| 15471 | xx[1354] = xx[0]; |
| 15472 | xx[1355] = xx[0]; |
| 15473 | xx[1356] = xx[0]; |
| 15474 | xx[1357] = xx[0]; |
| 15475 | xx[1358] = xx[0]; |
| 15476 | xx[1359] = xx[0]; |
| 15477 | xx[1360] = - (xx[857] + (xx[874] - xx[721] * xx[868]) * xx[80]); |
| 15478 | xx[1361] = - (xx[754] + xx[885]); |
| 15479 | xx[1362] = - (xx[871] + xx[861]); |
| 15480 | xx[1363] = - ((xx[879] * xx[624] + xx[891]) * xx[80] + xx[894]); |
| 15481 | xx[1364] = xx[148] + (xx[769] * xx[14] + xx[779]) * xx[80]; |
| 15482 | xx[1365] = xx[776] + xx[265]; |
| 15483 | xx[1366] = xx[786] + xx[48]; |
| 15484 | xx[1367] = xx[141] + xx[70]; |
| 15485 | xx[1368] = xx[185] + xx[758]; |
| 15486 | xx[1369] = xx[761] + xx[888]; |
| 15487 | xx[1370] = xx[782] + xx[155]; |
| 15488 | xx[1371] = xx[772] + xx[138]; |
| 15489 | xx[1372] = xx[0]; |
| 15490 | xx[1373] = xx[0]; |
| 15491 | xx[1374] = xx[0]; |
| 15492 | xx[1375] = xx[0]; |
| 15493 | xx[1376] = (xx[24] * xx[42] + xx[897]) * xx[80] + (xx[175] - xx[349] * xx[83]) |
| 15494 | * xx[80]; |
| 15495 | xx[1377] = xx[0]; |
| 15496 | xx[1378] = xx[0]; |
| 15497 | xx[1379] = xx[0]; |
| 15498 | xx[1380] = xx[0]; |
| 15499 | xx[1381] = xx[0]; |
| 15500 | xx[1382] = xx[0]; |
| 15501 | xx[1383] = xx[0]; |
| 15502 | xx[1384] = xx[0]; |
| 15503 | xx[1385] = xx[0]; |
| 15504 | xx[1386] = xx[0]; |
| 15505 | xx[1387] = xx[0]; |
| 15506 | xx[1388] = xx[0]; |
| 15507 | xx[1389] = xx[0]; |
| 15508 | xx[1390] = xx[0]; |
| 15509 | xx[1391] = xx[0]; |
| 15510 | xx[1392] = xx[0]; |
| 15511 | pm_math_quatXform(xx + 353, xx + 84, xx + 46); |
| 15512 | pm_math_quatXform(xx + 349, xx + 210, xx + 68); |
| 15513 | xx[136] = - xx[236]; |
| 15514 | xx[137] = xx[200]; |
| 15515 | xx[138] = - xx[233]; |
| 15516 | pm_math_quatXform(xx + 320, xx + 136, xx + 139); |
| 15517 | xx[136] = xx[220]; |
| 15518 | xx[137] = xx[235]; |
| 15519 | xx[138] = xx[238]; |
| 15520 | pm_math_quatXform(xx + 287, xx + 136, xx + 146); |
| 15521 | pm_math_quatXform(xx + 283, xx + 245, xx + 136); |
| 15522 | xx[24] = xx[131] * xx[35] - xx[135] * xx[32]; |
| 15523 | xx[149] = xx[80] * xx[24] * xx[35] + xx[9]; |
| 15524 | xx[150] = xx[80] * xx[24] * xx[32] + xx[135]; |
| 15525 | xx[151] = xx[11] - (xx[32] * xx[19] * xx[32] + xx[19] * xx[35] * xx[35]) * xx |
| 15526 | [80]; |
| 15527 | pm_math_quatXform(xx + 49, xx + 149, xx + 31); |
| 15528 | xx[24] = xx[139] + xx[146] + xx[136] + xx[31] - xx[43] - xx[8]; |
| 15529 | pm_math_quatXform(xx + 416, xx + 267, xx + 149); |
| 15530 | pm_math_quatXform(xx + 402, xx + 384, xx + 152); |
| 15531 | xx[26] = xx[266] * xx[188] + xx[270] * xx[193]; |
| 15532 | xx[155] = xx[80] * xx[26] * xx[193] + xx[59]; |
| 15533 | xx[156] = xx[80] * xx[26] * xx[188] - xx[266]; |
| 15534 | xx[157] = (xx[188] * xx[61] * xx[188] + xx[61] * xx[193] * xx[193]) * xx[80] - |
| 15535 | xx[71]; |
| 15536 | pm_math_quatXform(xx + 91, xx + 155, xx + 173); |
| 15537 | xx[26] = xx[140] + xx[147] + xx[137] + xx[32] - xx[98] + xx[23]; |
| 15538 | xx[31] = xx[141] + xx[148] + xx[138] + xx[33] - xx[34] + xx[27]; |
| 15539 | pm_math_quatXform(xx + 433, xx + 84, xx + 136); |
| 15540 | pm_math_quatXform(xx + 349, xx + 447, xx + 139); |
| 15541 | pm_math_quatXform(xx + 555, xx + 267, xx + 146); |
| 15542 | pm_math_quatXform(xx + 540, xx + 526, xx + 155); |
| 15543 | xx[32] = xx[410] * xx[252] - xx[409] * xx[366]; |
| 15544 | xx[179] = xx[80] * xx[32] * xx[366] + xx[39]; |
| 15545 | xx[180] = xx[80] * xx[32] * xx[252] - xx[410]; |
| 15546 | xx[181] = xx[89] - (xx[252] * xx[107] * xx[252] + xx[107] * xx[366] * xx[366]) |
| 15547 | * xx[80]; |
| 15548 | pm_math_quatXform(xx + 142, xx + 179, xx + 182); |
| 15549 | pm_math_quatXform(xx + 569, xx + 84, xx + 179); |
| 15550 | pm_math_quatXform(xx + 349, xx + 579, xx + 187); |
| 15551 | pm_math_quatXform(xx + 692, xx + 267, xx + 190); |
| 15552 | pm_math_quatXform(xx + 676, xx + 656, xx + 210); |
| 15553 | xx[32] = xx[547] * xx[440] - xx[548] * xx[383]; |
| 15554 | xx[215] = xx[80] * xx[32] * xx[440] + xx[130]; |
| 15555 | xx[216] = xx[80] * xx[32] * xx[383] + xx[548]; |
| 15556 | xx[217] = (xx[383] * xx[162] * xx[383] + xx[162] * xx[440] * xx[440]) * xx[80] |
| 15557 | - xx[163]; |
| 15558 | pm_math_quatXform(xx + 158, xx + 215, xx + 235); |
| 15559 | pm_math_quatXform(xx + 703, xx + 84, xx + 215); |
| 15560 | pm_math_quatXform(xx + 349, xx + 713, xx + 244); |
| 15561 | pm_math_quatXform(xx + 839, xx + 267, xx + 247); |
| 15562 | pm_math_quatXform(xx + 835, xx + 826, xx + 258); |
| 15563 | xx[32] = xx[684] * xx[578] - xx[685] * xx[512]; |
| 15564 | xx[263] = xx[80] * xx[32] * xx[578] + xx[196]; |
| 15565 | xx[264] = xx[80] * xx[32] * xx[512] + xx[685]; |
| 15566 | xx[265] = (xx[512] * xx[197] * xx[512] + xx[197] * xx[578] * xx[578]) * xx[80] |
| 15567 | - xx[206]; |
| 15568 | pm_math_quatXform(xx + 202, xx + 263, xx + 271); |
| 15569 | pm_math_quatXform(xx + 333, xx + 84, xx + 263); |
| 15570 | pm_math_quatXform(xx + 349, xx + 765, xx + 274); |
| 15571 | pm_math_quatXform(xx + 879, xx + 267, xx + 277); |
| 15572 | pm_math_quatXform(xx + 875, xx + 863, xx + 283); |
| 15573 | xx[32] = xx[747] * xx[613] + xx[746] * xx[648]; |
| 15574 | xx[286] = xx[194] - xx[80] * xx[32] * xx[648]; |
| 15575 | xx[287] = xx[747] - xx[80] * xx[32] * xx[613]; |
| 15576 | xx[288] = (xx[613] * xx[221] * xx[613] + xx[221] * xx[648] * xx[648]) * xx[80] |
| 15577 | - xx[222]; |
| 15578 | pm_math_quatXform(xx + 226, xx + 286, xx + 289); |
| 15579 | xx[329] = - (xx[46] + xx[68] + xx[24] - (xx[149] + xx[152] + xx[173] - xx[97]) |
| 15580 | - xx[78]); |
| 15581 | xx[330] = - (xx[47] + xx[69] + xx[26] - (xx[150] + xx[153] + xx[174] - xx[101]) |
| 15582 | - xx[88]); |
| 15583 | xx[331] = - (xx[48] + xx[70] + xx[31] - (xx[151] + xx[154] + xx[175] - xx[36]) |
| 15584 | + xx[37]); |
| 15585 | xx[332] = - (xx[136] + xx[139] + xx[24] - (xx[146] + xx[155] + xx[182] - xx |
| 15586 | [120]) - xx[38]); |
| 15587 | xx[333] = - (xx[137] + xx[140] + xx[26] - (xx[147] + xx[156] + xx[183] - xx |
| 15588 | [121]) - xx[118]); |
| 15589 | xx[334] = - (xx[138] + xx[141] + xx[31] - (xx[148] + xx[157] + xx[184] - xx |
| 15590 | [124]) - xx[6]); |
| 15591 | xx[335] = - (xx[179] + xx[187] + xx[24] - (xx[190] + xx[210] + xx[235] - xx |
| 15592 | [170]) + xx[129]); |
| 15593 | xx[336] = - (xx[180] + xx[188] + xx[26] - (xx[191] + xx[211] + xx[236] - xx |
| 15594 | [171]) - xx[164]); |
| 15595 | xx[337] = - (xx[181] + xx[189] + xx[31] - (xx[192] + xx[212] + xx[237] - xx |
| 15596 | [172]) + xx[166]); |
| 15597 | xx[338] = - (xx[215] + xx[244] + xx[24] - (xx[247] + xx[258] + xx[271] - xx |
| 15598 | [209]) + xx[207]); |
| 15599 | xx[339] = - (xx[216] + xx[245] + xx[26] - (xx[248] + xx[259] + xx[272] - xx |
| 15600 | [213]) - xx[208]); |
| 15601 | xx[340] = - (xx[217] + xx[246] + xx[31] - (xx[249] + xx[260] + xx[273] - xx |
| 15602 | [214]) + xx[195]); |
| 15603 | xx[341] = - (xx[263] + xx[274] + xx[24] - (xx[277] + xx[283] + xx[289] - xx |
| 15604 | [230]) - xx[201]); |
| 15605 | xx[342] = - (xx[264] + xx[275] + xx[26] - (xx[278] + xx[284] + xx[290] - xx |
| 15606 | [231]) - xx[223]); |
| 15607 | xx[343] = - (xx[265] + xx[276] + xx[31] - (xx[279] + xx[285] + xx[291] - xx |
| 15608 | [232]) + xx[58]); |
| 15609 | memcpy(xx + 1393, xx + 898, 495 * sizeof(double)); |
| 15610 | factorAndSolveWide(15, 33, xx + 1393, xx + 344, xx + 380, ii + 0, xx + 329, |
| 15611 | xx[16], xx + 549); |
| 15612 | xx[24] = xx[17] + xx[549]; |
| 15613 | xx[136] = xx[718]; |
| 15614 | xx[137] = xx[730]; |
| 15615 | xx[138] = xx[733]; |
| 15616 | xx[139] = xx[732]; |
| 15617 | pm_math_quatDeriv(xx + 136, xx + 550, xx + 146); |
| 15618 | xx[17] = xx[718] + xx[146]; |
| 15619 | xx[26] = xx[730] + xx[147]; |
| 15620 | xx[31] = xx[733] + xx[148]; |
| 15621 | xx[32] = xx[732] + xx[149]; |
| 15622 | xx[33] = sqrt(xx[17] * xx[17] + xx[26] * xx[26] + xx[31] * xx[31] + xx[32] * |
| 15623 | xx[32]); |
| 15624 | if (xx[28] > xx[33]) |
| 15625 | xx[33] = xx[28]; |
| 15626 | xx[35] = xx[17] / xx[33]; |
| 15627 | xx[17] = xx[26] / xx[33]; |
| 15628 | xx[26] = xx[31] / xx[33]; |
| 15629 | xx[31] = xx[32] / xx[33]; |
| 15630 | xx[32] = xx[18] + xx[553]; |
| 15631 | xx[136] = xx[53]; |
| 15632 | xx[137] = xx[29]; |
| 15633 | xx[138] = xx[66]; |
| 15634 | xx[139] = xx[65]; |
| 15635 | pm_math_quatDeriv(xx + 136, xx + 554, xx + 146); |
| 15636 | xx[18] = xx[53] + xx[146]; |
| 15637 | xx[33] = xx[29] + xx[147]; |
| 15638 | xx[29] = xx[66] + xx[148]; |
| 15639 | xx[40] = xx[65] + xx[149]; |
| 15640 | xx[42] = sqrt(xx[18] * xx[18] + xx[33] * xx[33] + xx[29] * xx[29] + xx[40] * |
| 15641 | xx[40]); |
| 15642 | if (xx[28] > xx[42]) |
| 15643 | xx[42] = xx[28]; |
| 15644 | xx[44] = xx[18] / xx[42]; |
| 15645 | xx[18] = xx[33] / xx[42]; |
| 15646 | xx[33] = xx[29] / xx[42]; |
| 15647 | xx[29] = xx[40] / xx[42]; |
| 15648 | xx[136] = xx[76]; |
| 15649 | xx[137] = xx[45]; |
| 15650 | xx[138] = xx[81]; |
| 15651 | xx[139] = xx[77]; |
| 15652 | pm_math_quatDeriv(xx + 136, xx + 557, xx + 146); |
| 15653 | xx[40] = xx[76] + xx[146]; |
| 15654 | xx[42] = xx[45] + xx[147]; |
| 15655 | xx[45] = xx[81] + xx[148]; |
| 15656 | xx[46] = xx[77] + xx[149]; |
| 15657 | xx[47] = sqrt(xx[40] * xx[40] + xx[42] * xx[42] + xx[45] * xx[45] + xx[46] * |
| 15658 | xx[46]); |
| 15659 | if (xx[28] > xx[47]) |
| 15660 | xx[47] = xx[28]; |
| 15661 | xx[48] = xx[40] / xx[47]; |
| 15662 | xx[40] = xx[42] / xx[47]; |
| 15663 | xx[42] = xx[45] / xx[47]; |
| 15664 | xx[45] = xx[46] / xx[47]; |
| 15665 | xx[46] = xx[132] + xx[560]; |
| 15666 | xx[47] = xx[109] + xx[561]; |
| 15667 | xx[53] = xx[198] + xx[562]; |
| 15668 | xx[64] = xx[328] + xx[563]; |
| 15669 | xx[65] = xx[442] + xx[564]; |
| 15670 | xx[66] = xx[668] + xx[565]; |
| 15671 | xx[68] = xx[219] + xx[566]; |
| 15672 | xx[136] = xx[397]; |
| 15673 | xx[137] = xx[374]; |
| 15674 | xx[138] = xx[411]; |
| 15675 | xx[139] = xx[398]; |
| 15676 | pm_math_quatDeriv(xx + 136, xx + 567, xx + 146); |
| 15677 | xx[69] = xx[397] + xx[146]; |
| 15678 | xx[70] = xx[374] + xx[147]; |
| 15679 | xx[75] = xx[411] + xx[148]; |
| 15680 | xx[76] = xx[398] + xx[149]; |
| 15681 | xx[77] = sqrt(xx[69] * xx[69] + xx[70] * xx[70] + xx[75] * xx[75] + xx[76] * |
| 15682 | xx[76]); |
| 15683 | if (xx[28] > xx[77]) |
| 15684 | xx[77] = xx[28]; |
| 15685 | xx[81] = xx[69] / xx[77]; |
| 15686 | xx[69] = xx[70] / xx[77]; |
| 15687 | xx[70] = xx[75] / xx[77]; |
| 15688 | xx[75] = xx[76] / xx[77]; |
| 15689 | xx[76] = xx[186] + xx[570]; |
| 15690 | xx[136] = xx[234]; |
| 15691 | xx[137] = xx[250]; |
| 15692 | xx[138] = xx[313]; |
| 15693 | xx[139] = xx[253]; |
| 15694 | pm_math_quatDeriv(xx + 136, xx + 571, xx + 146); |
| 15695 | xx[77] = xx[234] + xx[146]; |
| 15696 | xx[82] = xx[250] + xx[147]; |
| 15697 | xx[83] = xx[313] + xx[148]; |
| 15698 | xx[99] = xx[253] + xx[149]; |
| 15699 | xx[100] = sqrt(xx[77] * xx[77] + xx[82] * xx[82] + xx[83] * xx[83] + xx[99] * |
| 15700 | xx[99]); |
| 15701 | if (xx[28] > xx[100]) |
| 15702 | xx[100] = xx[28]; |
| 15703 | xx[103] = xx[77] / xx[100]; |
| 15704 | xx[77] = xx[82] / xx[100]; |
| 15705 | xx[82] = xx[83] / xx[100]; |
| 15706 | xx[83] = xx[99] / xx[100]; |
| 15707 | xx[99] = xx[368] + xx[574]; |
| 15708 | xx[136] = xx[492]; |
| 15709 | xx[137] = xx[511]; |
| 15710 | xx[138] = xx[534]; |
| 15711 | xx[139] = xx[533]; |
| 15712 | pm_math_quatDeriv(xx + 136, xx + 575, xx + 146); |
| 15713 | xx[100] = xx[492] + xx[146]; |
| 15714 | xx[109] = xx[511] + xx[147]; |
| 15715 | xx[110] = xx[534] + xx[148]; |
| 15716 | xx[111] = xx[533] + xx[149]; |
| 15717 | xx[132] = sqrt(xx[100] * xx[100] + xx[109] * xx[109] + xx[110] * xx[110] + xx |
| 15718 | [111] * xx[111]); |
| 15719 | if (xx[28] > xx[132]) |
| 15720 | xx[132] = xx[28]; |
| 15721 | xx[133] = xx[100] / xx[132]; |
| 15722 | xx[100] = xx[109] / xx[132]; |
| 15723 | xx[109] = xx[110] / xx[132]; |
| 15724 | xx[110] = xx[111] / xx[132]; |
| 15725 | xx[111] = xx[491] + xx[578]; |
| 15726 | xx[136] = xx[655]; |
| 15727 | xx[137] = xx[669]; |
| 15728 | xx[138] = xx[710]; |
| 15729 | xx[139] = xx[671]; |
| 15730 | pm_math_quatDeriv(xx + 136, xx + 579, xx + 146); |
| 15731 | xx[132] = xx[655] + xx[146]; |
| 15732 | xx[134] = xx[669] + xx[147]; |
| 15733 | xx[136] = xx[710] + xx[148]; |
| 15734 | xx[137] = xx[671] + xx[149]; |
| 15735 | xx[138] = sqrt(xx[132] * xx[132] + xx[134] * xx[134] + xx[136] * xx[136] + xx |
| 15736 | [137] * xx[137]); |
| 15737 | if (xx[28] > xx[138]) |
| 15738 | xx[138] = xx[28]; |
| 15739 | xx[28] = xx[132] / xx[138]; |
| 15740 | xx[132] = xx[134] / xx[138]; |
| 15741 | xx[134] = xx[136] / xx[138]; |
| 15742 | xx[136] = xx[137] / xx[138]; |
| 15743 | xx[792] = state[0]; |
| 15744 | xx[793] = state[1]; |
| 15745 | xx[794] = state[2]; |
| 15746 | xx[795] = state[3]; |
| 15747 | xx[796] = state[4]; |
| 15748 | xx[797] = state[5]; |
| 15749 | xx[798] = state[6]; |
| 15750 | xx[799] = state[7]; |
| 15751 | xx[800] = state[8]; |
| 15752 | xx[801] = state[9]; |
| 15753 | xx[802] = state[10]; |
| 15754 | xx[803] = state[11]; |
| 15755 | xx[804] = state[12]; |
| 15756 | xx[805] = state[13]; |
| 15757 | xx[806] = xx[24]; |
| 15758 | xx[807] = state[15]; |
| 15759 | xx[808] = xx[35]; |
| 15760 | xx[809] = xx[17]; |
| 15761 | xx[810] = xx[26]; |
| 15762 | xx[811] = xx[31]; |
| 15763 | xx[812] = state[20]; |
| 15764 | xx[813] = state[21]; |
| 15765 | xx[814] = state[22]; |
| 15766 | xx[815] = state[23]; |
| 15767 | xx[816] = state[24]; |
| 15768 | xx[817] = xx[32]; |
| 15769 | xx[818] = state[26]; |
| 15770 | xx[819] = xx[44]; |
| 15771 | xx[820] = xx[18]; |
| 15772 | xx[821] = xx[33]; |
| 15773 | xx[822] = xx[29]; |
| 15774 | xx[823] = state[31]; |
| 15775 | xx[824] = state[32]; |
| 15776 | xx[825] = state[33]; |
| 15777 | xx[826] = xx[48]; |
| 15778 | xx[827] = xx[40]; |
| 15779 | xx[828] = xx[42]; |
| 15780 | xx[829] = xx[45]; |
| 15781 | xx[830] = state[38]; |
| 15782 | xx[831] = state[39]; |
| 15783 | xx[832] = state[40]; |
| 15784 | xx[833] = xx[46]; |
| 15785 | xx[834] = state[42]; |
| 15786 | xx[835] = xx[47]; |
| 15787 | xx[836] = state[44]; |
| 15788 | xx[837] = xx[53]; |
| 15789 | xx[838] = state[46]; |
| 15790 | xx[839] = xx[64]; |
| 15791 | xx[840] = state[48]; |
| 15792 | xx[841] = xx[65]; |
| 15793 | xx[842] = state[50]; |
| 15794 | xx[843] = xx[66]; |
| 15795 | xx[844] = state[52]; |
| 15796 | xx[845] = state[53]; |
| 15797 | xx[846] = state[54]; |
| 15798 | xx[847] = xx[68]; |
| 15799 | xx[848] = state[56]; |
| 15800 | xx[849] = xx[81]; |
| 15801 | xx[850] = xx[69]; |
| 15802 | xx[851] = xx[70]; |
| 15803 | xx[852] = xx[75]; |
| 15804 | xx[853] = state[61]; |
| 15805 | xx[854] = state[62]; |
| 15806 | xx[855] = state[63]; |
| 15807 | xx[856] = state[64]; |
| 15808 | xx[857] = state[65]; |
| 15809 | xx[858] = xx[76]; |
| 15810 | xx[859] = state[67]; |
| 15811 | xx[860] = xx[103]; |
| 15812 | xx[861] = xx[77]; |
| 15813 | xx[862] = xx[82]; |
| 15814 | xx[863] = xx[83]; |
| 15815 | xx[864] = state[72]; |
| 15816 | xx[865] = state[73]; |
| 15817 | xx[866] = state[74]; |
| 15818 | xx[867] = state[75]; |
| 15819 | xx[868] = state[76]; |
| 15820 | xx[869] = xx[99]; |
| 15821 | xx[870] = state[78]; |
| 15822 | xx[871] = xx[133]; |
| 15823 | xx[872] = xx[100]; |
| 15824 | xx[873] = xx[109]; |
| 15825 | xx[874] = xx[110]; |
| 15826 | xx[875] = state[83]; |
| 15827 | xx[876] = state[84]; |
| 15828 | xx[877] = state[85]; |
| 15829 | xx[878] = state[86]; |
| 15830 | xx[879] = state[87]; |
| 15831 | xx[880] = xx[111]; |
| 15832 | xx[881] = state[89]; |
| 15833 | xx[882] = xx[28]; |
| 15834 | xx[883] = xx[132]; |
| 15835 | xx[884] = xx[134]; |
| 15836 | xx[885] = xx[136]; |
| 15837 | xx[886] = state[94]; |
| 15838 | xx[887] = state[95]; |
| 15839 | xx[888] = state[96]; |
| 15840 | xx[137] = xx[47] * xx[2]; |
| 15841 | xx[47] = cos(xx[137]); |
| 15842 | xx[138] = xx[32] * xx[2]; |
| 15843 | xx[32] = sin(xx[138]); |
| 15844 | xx[139] = cos(xx[138]); |
| 15845 | xx[146] = - (xx[32] * xx[7] - xx[3] * xx[139]); |
| 15846 | xx[147] = - (xx[139] * xx[14] + xx[15] * xx[32]); |
| 15847 | xx[148] = xx[32] * xx[14] - xx[15] * xx[139]; |
| 15848 | xx[149] = xx[3] * xx[32] + xx[139] * xx[7]; |
| 15849 | xx[150] = xx[21] * xx[29] - xx[25] * xx[44]; |
| 15850 | xx[151] = - (xx[21] * xx[33] + xx[25] * xx[18]); |
| 15851 | xx[152] = - (xx[25] * xx[33] - xx[21] * xx[18]); |
| 15852 | xx[153] = - (xx[21] * xx[44] + xx[25] * xx[29]); |
| 15853 | pm_math_quatCompose(xx + 146, xx + 150, xx + 154); |
| 15854 | xx[179] = xx[25] * xx[45] - xx[41] * xx[48]; |
| 15855 | xx[180] = xx[25] * xx[42] - xx[41] * xx[40]; |
| 15856 | xx[181] = - (xx[41] * xx[42] + xx[25] * xx[40]); |
| 15857 | xx[182] = - (xx[41] * xx[45] + xx[25] * xx[48]); |
| 15858 | pm_math_quatCompose(xx + 154, xx + 179, xx + 183); |
| 15859 | xx[3] = xx[46] * xx[2]; |
| 15860 | xx[7] = sin(xx[3]); |
| 15861 | xx[14] = xx[57] * xx[7]; |
| 15862 | xx[15] = xx[56] * xx[14]; |
| 15863 | xx[18] = xx[63] * xx[7]; |
| 15864 | xx[7] = xx[62] * xx[18]; |
| 15865 | xx[29] = cos(xx[3]); |
| 15866 | xx[3] = xx[62] * xx[29]; |
| 15867 | xx[33] = xx[15] + xx[7] - xx[3]; |
| 15868 | xx[40] = xx[62] * xx[14]; |
| 15869 | xx[14] = xx[56] * xx[29]; |
| 15870 | xx[29] = xx[56] * xx[18]; |
| 15871 | xx[18] = xx[40] + xx[14] - xx[29]; |
| 15872 | xx[42] = xx[14] - xx[40] + xx[29]; |
| 15873 | xx[14] = xx[7] + xx[3] + xx[15]; |
| 15874 | xx[187] = xx[33]; |
| 15875 | xx[188] = xx[18]; |
| 15876 | xx[189] = xx[42]; |
| 15877 | xx[190] = xx[14]; |
| 15878 | pm_math_quatCompose(xx + 183, xx + 187, xx + 215); |
| 15879 | xx[3] = sin(xx[137]); |
| 15880 | xx[187] = xx[47] * xx[215] + xx[218] * xx[3]; |
| 15881 | xx[188] = xx[47] * xx[216] - xx[217] * xx[3]; |
| 15882 | xx[189] = xx[47] * xx[217] + xx[216] * xx[3]; |
| 15883 | xx[190] = xx[47] * xx[218] - xx[215] * xx[3]; |
| 15884 | pm_math_quatXform(xx + 187, xx + 84, xx + 44); |
| 15885 | xx[7] = xx[87] * xx[3]; |
| 15886 | xx[15] = xx[90] * xx[3]; |
| 15887 | xx[173] = - (0.02539999999966131 + xx[80] * (xx[47] * xx[7] + xx[15] * xx[3])); |
| 15888 | xx[174] = (xx[7] * xx[3] - xx[47] * xx[15]) * xx[80] - xx[87]; |
| 15889 | xx[175] = xx[96]; |
| 15890 | pm_math_quatXform(xx + 215, xx + 173, xx + 187); |
| 15891 | xx[3] = 0.1158410329997535; |
| 15892 | xx[7] = xx[105] * xx[42]; |
| 15893 | xx[173] = xx[18]; |
| 15894 | xx[174] = xx[42]; |
| 15895 | xx[175] = xx[14]; |
| 15896 | xx[15] = xx[104] * xx[14] - xx[18] * xx[105]; |
| 15897 | xx[14] = xx[104] * xx[42]; |
| 15898 | xx[190] = xx[7]; |
| 15899 | xx[191] = xx[15]; |
| 15900 | xx[192] = - xx[14]; |
| 15901 | pm_math_cross3(xx + 173, xx + 190, xx + 198); |
| 15902 | xx[18] = 0.1002102452613437; |
| 15903 | xx[173] = - (xx[3] + (xx[7] * xx[33] + xx[198]) * xx[80]); |
| 15904 | xx[174] = xx[108] - (xx[33] * xx[15] + xx[199]) * xx[80]; |
| 15905 | xx[175] = - (xx[18] + xx[80] * (xx[200] - xx[14] * xx[33])); |
| 15906 | pm_math_quatXform(xx + 183, xx + 173, xx + 190); |
| 15907 | pm_math_quatXform(xx + 179, xx + 112, xx + 173); |
| 15908 | xx[179] = xx[102] + xx[173]; |
| 15909 | xx[180] = xx[123] + xx[174]; |
| 15910 | xx[181] = xx[115] + xx[175]; |
| 15911 | pm_math_quatXform(xx + 154, xx + 179, xx + 173); |
| 15912 | pm_math_quatXform(xx + 150, xx + 126, xx + 154); |
| 15913 | pm_math_quatXform(xx + 146, xx + 154, xx + 150); |
| 15914 | xx[7] = xx[131] * xx[32] - xx[135] * xx[139]; |
| 15915 | xx[146] = xx[80] * xx[7] * xx[32] + xx[9]; |
| 15916 | xx[147] = xx[80] * xx[7] * xx[139] + xx[135]; |
| 15917 | xx[148] = xx[11] - (xx[139] * xx[19] * xx[139] + xx[19] * xx[32] * xx[32]) * |
| 15918 | xx[80]; |
| 15919 | pm_math_quatXform(xx + 49, xx + 146, xx + 137); |
| 15920 | xx[7] = xx[190] + xx[173] + xx[150] + xx[137] - xx[43] - xx[8]; |
| 15921 | xx[8] = xx[76] * xx[2]; |
| 15922 | xx[11] = sin(xx[8]); |
| 15923 | xx[14] = cos(xx[8]); |
| 15924 | xx[47] = - (xx[225] * xx[11] + xx[14] * xx[125]); |
| 15925 | xx[48] = - (xx[241] * xx[14] - xx[11] * xx[242]); |
| 15926 | xx[49] = xx[241] * xx[11] + xx[14] * xx[242]; |
| 15927 | xx[50] = xx[225] * xx[14] - xx[11] * xx[125]; |
| 15928 | xx[146] = xx[21] * xx[83] - xx[25] * xx[103]; |
| 15929 | xx[147] = - (xx[21] * xx[82] + xx[25] * xx[77]); |
| 15930 | xx[148] = - (xx[25] * xx[82] - xx[21] * xx[77]); |
| 15931 | xx[149] = - (xx[21] * xx[103] + xx[25] * xx[83]); |
| 15932 | pm_math_quatCompose(xx + 47, xx + 146, xx + 153); |
| 15933 | pm_math_quatXform(xx + 153, xx + 267, xx + 179); |
| 15934 | pm_math_quatXform(xx + 146, xx + 126, xx + 153); |
| 15935 | pm_math_quatXform(xx + 47, xx + 153, xx + 146); |
| 15936 | xx[8] = xx[266] * xx[14] + xx[270] * xx[11]; |
| 15937 | xx[47] = xx[80] * xx[8] * xx[11] + xx[59]; |
| 15938 | xx[48] = xx[80] * xx[8] * xx[14] - xx[266]; |
| 15939 | xx[49] = (xx[14] * xx[61] * xx[14] + xx[61] * xx[11] * xx[11]) * xx[80] - xx |
| 15940 | [71]; |
| 15941 | pm_math_quatXform(xx + 91, xx + 47, xx + 50); |
| 15942 | xx[8] = xx[191] + xx[174] + xx[151] + xx[138] - xx[98] + xx[23]; |
| 15943 | xx[11] = xx[192] + xx[175] + xx[152] + xx[139] - xx[34] + xx[27]; |
| 15944 | xx[14] = xx[53] * xx[2]; |
| 15945 | xx[15] = sin(xx[14]); |
| 15946 | xx[19] = xx[62] * xx[15]; |
| 15947 | xx[23] = cos(xx[14]); |
| 15948 | xx[14] = xx[62] * xx[23]; |
| 15949 | xx[27] = xx[56] * xx[23]; |
| 15950 | xx[23] = xx[56] * xx[15]; |
| 15951 | xx[91] = xx[19] - xx[14]; |
| 15952 | xx[92] = - (xx[27] + xx[23]); |
| 15953 | xx[93] = xx[23] - xx[27]; |
| 15954 | xx[94] = - (xx[19] + xx[14]); |
| 15955 | pm_math_quatCompose(xx + 215, xx + 91, xx + 137); |
| 15956 | pm_math_quatXform(xx + 137, xx + 84, xx + 32); |
| 15957 | pm_math_quatXform(xx + 91, xx + 324, xx + 47); |
| 15958 | xx[91] = xx[243] - xx[47]; |
| 15959 | xx[92] = - xx[48]; |
| 15960 | xx[93] = xx[262] - xx[49]; |
| 15961 | pm_math_quatXform(xx + 215, xx + 91, xx + 47); |
| 15962 | xx[14] = xx[68] * xx[2]; |
| 15963 | xx[15] = sin(xx[14]); |
| 15964 | xx[19] = cos(xx[14]); |
| 15965 | xx[91] = - (xx[15] * xx[256] - xx[224] * xx[19]); |
| 15966 | xx[92] = - (xx[19] * xx[315] + xx[319] * xx[15]); |
| 15967 | xx[93] = xx[15] * xx[315] - xx[319] * xx[19]; |
| 15968 | xx[94] = xx[224] * xx[15] + xx[19] * xx[256]; |
| 15969 | xx[137] = xx[21] * xx[75] - xx[25] * xx[81]; |
| 15970 | xx[138] = - (xx[21] * xx[70] + xx[25] * xx[69]); |
| 15971 | xx[139] = - (xx[25] * xx[70] - xx[21] * xx[69]); |
| 15972 | xx[140] = - (xx[21] * xx[81] + xx[25] * xx[75]); |
| 15973 | pm_math_quatCompose(xx + 91, xx + 137, xx + 68); |
| 15974 | pm_math_quatXform(xx + 68, xx + 267, xx + 75); |
| 15975 | pm_math_quatXform(xx + 137, xx + 126, xx + 68); |
| 15976 | pm_math_quatXform(xx + 91, xx + 68, xx + 81); |
| 15977 | xx[14] = xx[410] * xx[19] - xx[409] * xx[15]; |
| 15978 | xx[68] = xx[80] * xx[14] * xx[15] + xx[39]; |
| 15979 | xx[69] = xx[80] * xx[14] * xx[19] - xx[410]; |
| 15980 | xx[70] = xx[89] - (xx[19] * xx[107] * xx[19] + xx[107] * xx[15] * xx[15]) * |
| 15981 | xx[80]; |
| 15982 | pm_math_quatXform(xx + 142, xx + 68, xx + 91); |
| 15983 | xx[14] = xx[64] * xx[2]; |
| 15984 | xx[15] = cos(xx[14]); |
| 15985 | xx[19] = xx[312] * xx[15]; |
| 15986 | xx[23] = sin(xx[14]); |
| 15987 | xx[14] = xx[312] * xx[23]; |
| 15988 | xx[27] = xx[379] * xx[23]; |
| 15989 | xx[23] = xx[379] * xx[15]; |
| 15990 | xx[68] = - (xx[19] + xx[14]); |
| 15991 | xx[69] = xx[27] - xx[23]; |
| 15992 | xx[70] = - (xx[23] + xx[27]); |
| 15993 | xx[71] = xx[14] - xx[19]; |
| 15994 | pm_math_quatCompose(xx + 215, xx + 68, xx + 137); |
| 15995 | pm_math_quatXform(xx + 137, xx + 84, xx + 141); |
| 15996 | pm_math_quatXform(xx + 68, xx + 456, xx + 137); |
| 15997 | xx[68] = - (xx[314] + xx[137]); |
| 15998 | xx[69] = - xx[138]; |
| 15999 | xx[70] = xx[462] - xx[139]; |
| 16000 | pm_math_quatXform(xx + 215, xx + 68, xx + 137); |
| 16001 | xx[14] = xx[99] * xx[2]; |
| 16002 | xx[15] = sin(xx[14]); |
| 16003 | xx[19] = cos(xx[14]); |
| 16004 | xx[68] = - (xx[451] * xx[15] - xx[19] * xx[400]); |
| 16005 | xx[69] = - (xx[501] * xx[19] - xx[15] * xx[502]); |
| 16006 | xx[70] = xx[501] * xx[15] + xx[19] * xx[502]; |
| 16007 | xx[71] = xx[15] * xx[400] + xx[451] * xx[19]; |
| 16008 | xx[149] = xx[21] * xx[110] - xx[25] * xx[133]; |
| 16009 | xx[150] = - (xx[21] * xx[109] + xx[25] * xx[100]); |
| 16010 | xx[151] = - (xx[25] * xx[109] - xx[21] * xx[100]); |
| 16011 | xx[152] = - (xx[21] * xx[133] + xx[25] * xx[110]); |
| 16012 | pm_math_quatCompose(xx + 68, xx + 149, xx + 153); |
| 16013 | pm_math_quatXform(xx + 153, xx + 267, xx + 98); |
| 16014 | pm_math_quatXform(xx + 149, xx + 126, xx + 153); |
| 16015 | pm_math_quatXform(xx + 68, xx + 153, xx + 149); |
| 16016 | xx[14] = xx[547] * xx[15] - xx[548] * xx[19]; |
| 16017 | xx[68] = xx[80] * xx[14] * xx[15] + xx[130]; |
| 16018 | xx[69] = xx[80] * xx[14] * xx[19] + xx[548]; |
| 16019 | xx[70] = (xx[19] * xx[162] * xx[19] + xx[162] * xx[15] * xx[15]) * xx[80] - |
| 16020 | xx[163]; |
| 16021 | pm_math_quatXform(xx + 158, xx + 68, xx + 152); |
| 16022 | xx[14] = xx[65] * xx[2]; |
| 16023 | xx[15] = cos(xx[14]); |
| 16024 | xx[19] = xx[312] * xx[15]; |
| 16025 | xx[23] = sin(xx[14]); |
| 16026 | xx[14] = xx[312] * xx[23]; |
| 16027 | xx[27] = xx[379] * xx[15]; |
| 16028 | xx[15] = xx[379] * xx[23]; |
| 16029 | xx[68] = xx[19] + xx[14]; |
| 16030 | xx[69] = xx[27] - xx[15]; |
| 16031 | xx[70] = xx[27] + xx[15]; |
| 16032 | xx[71] = xx[19] - xx[14]; |
| 16033 | pm_math_quatCompose(xx + 215, xx + 68, xx + 155); |
| 16034 | pm_math_quatXform(xx + 155, xx + 84, xx + 159); |
| 16035 | pm_math_quatXform(xx + 68, xx + 595, xx + 155); |
| 16036 | xx[68] = - (xx[446] + xx[155]); |
| 16037 | xx[69] = - xx[156]; |
| 16038 | xx[70] = xx[601] - xx[157]; |
| 16039 | pm_math_quatXform(xx + 215, xx + 68, xx + 155); |
| 16040 | xx[14] = xx[111] * xx[2]; |
| 16041 | xx[15] = sin(xx[14]); |
| 16042 | xx[19] = cos(xx[14]); |
| 16043 | xx[68] = - (xx[594] * xx[15] + xx[19] * xx[536]); |
| 16044 | xx[69] = - (xx[638] * xx[19] + xx[15] * xx[642]); |
| 16045 | xx[70] = xx[638] * xx[15] - xx[19] * xx[642]; |
| 16046 | xx[71] = xx[594] * xx[19] - xx[15] * xx[536]; |
| 16047 | xx[182] = xx[21] * xx[136] - xx[25] * xx[28]; |
| 16048 | xx[183] = - (xx[21] * xx[134] + xx[25] * xx[132]); |
| 16049 | xx[184] = - (xx[25] * xx[134] - xx[21] * xx[132]); |
| 16050 | xx[185] = - (xx[21] * xx[28] + xx[25] * xx[136]); |
| 16051 | pm_math_quatCompose(xx + 68, xx + 182, xx + 190); |
| 16052 | pm_math_quatXform(xx + 190, xx + 267, xx + 27); |
| 16053 | pm_math_quatXform(xx + 182, xx + 126, xx + 109); |
| 16054 | pm_math_quatXform(xx + 68, xx + 109, xx + 132); |
| 16055 | xx[14] = xx[684] * xx[15] - xx[685] * xx[19]; |
| 16056 | xx[68] = xx[80] * xx[14] * xx[15] + xx[196]; |
| 16057 | xx[69] = xx[80] * xx[14] * xx[19] + xx[685]; |
| 16058 | xx[70] = (xx[19] * xx[197] * xx[19] + xx[197] * xx[15] * xx[15]) * xx[80] - |
| 16059 | xx[206]; |
| 16060 | pm_math_quatXform(xx + 202, xx + 68, xx + 109); |
| 16061 | xx[14] = xx[66] * xx[2]; |
| 16062 | xx[15] = cos(xx[14]); |
| 16063 | xx[19] = sin(xx[14]); |
| 16064 | xx[68] = xx[15] * xx[215] + xx[218] * xx[19]; |
| 16065 | xx[69] = xx[15] * xx[216] - xx[217] * xx[19]; |
| 16066 | xx[70] = xx[15] * xx[217] + xx[216] * xx[19]; |
| 16067 | xx[71] = xx[15] * xx[218] - xx[215] * xx[19]; |
| 16068 | pm_math_quatXform(xx + 68, xx + 84, xx + 64); |
| 16069 | xx[14] = xx[54] * xx[19]; |
| 16070 | xx[23] = xx[738] * xx[19]; |
| 16071 | xx[68] = 0.02540000000681907 - xx[80] * (xx[14] * xx[19] - xx[15] * xx[23]); |
| 16072 | xx[69] = xx[738] - (xx[15] * xx[14] + xx[23] * xx[19]) * xx[80]; |
| 16073 | xx[70] = xx[791]; |
| 16074 | pm_math_quatXform(xx + 215, xx + 68, xx + 173); |
| 16075 | xx[14] = xx[24] * xx[2]; |
| 16076 | xx[15] = sin(xx[14]); |
| 16077 | xx[19] = cos(xx[14]); |
| 16078 | xx[68] = - (xx[675] * xx[15] + xx[19] * xx[647]); |
| 16079 | xx[69] = - (xx[721] * xx[19] - xx[15] * xx[722]); |
| 16080 | xx[70] = xx[721] * xx[15] + xx[19] * xx[722]; |
| 16081 | xx[71] = xx[675] * xx[19] - xx[15] * xx[647]; |
| 16082 | xx[182] = xx[21] * xx[31] - xx[25] * xx[35]; |
| 16083 | xx[183] = - (xx[21] * xx[26] + xx[25] * xx[17]); |
| 16084 | xx[184] = - (xx[25] * xx[26] - xx[21] * xx[17]); |
| 16085 | xx[185] = - (xx[21] * xx[35] + xx[25] * xx[31]); |
| 16086 | pm_math_quatCompose(xx + 68, xx + 182, xx + 190); |
| 16087 | pm_math_quatXform(xx + 190, xx + 267, xx + 197); |
| 16088 | pm_math_quatXform(xx + 182, xx + 126, xx + 190); |
| 16089 | pm_math_quatXform(xx + 68, xx + 190, xx + 182); |
| 16090 | xx[14] = xx[747] * xx[19] + xx[746] * xx[15]; |
| 16091 | xx[68] = xx[194] - xx[80] * xx[14] * xx[15]; |
| 16092 | xx[69] = xx[747] - xx[80] * xx[14] * xx[19]; |
| 16093 | xx[70] = (xx[19] * xx[221] * xx[19] + xx[221] * xx[15] * xx[15]) * xx[80] - |
| 16094 | xx[222]; |
| 16095 | pm_math_quatXform(xx + 226, xx + 68, xx + 190); |
| 16096 | xx[328] = fabs(xx[44] + xx[187] + xx[7] - (xx[179] + xx[146] + xx[50] - xx[97]) |
| 16097 | - xx[78]); |
| 16098 | xx[329] = fabs(xx[45] + xx[188] + xx[8] - (xx[180] + xx[147] + xx[51] - xx[101]) |
| 16099 | - xx[88]); |
| 16100 | xx[330] = fabs(xx[46] + xx[189] + xx[11] - (xx[181] + xx[148] + xx[52] - xx[36]) |
| 16101 | + xx[37]); |
| 16102 | xx[331] = fabs(xx[32] + xx[47] + xx[7] - (xx[75] + xx[81] + xx[91] - xx[120]) |
| 16103 | - xx[38]); |
| 16104 | xx[332] = fabs(xx[33] + xx[48] + xx[8] - (xx[76] + xx[82] + xx[92] - xx[121]) |
| 16105 | - xx[118]); |
| 16106 | xx[333] = fabs(xx[34] + xx[49] + xx[11] - (xx[77] + xx[83] + xx[93] - xx[124]) |
| 16107 | - xx[6]); |
| 16108 | xx[334] = fabs(xx[141] + xx[137] + xx[7] - (xx[98] + xx[149] + xx[152] - xx |
| 16109 | [170]) + xx[129]); |
| 16110 | xx[335] = fabs(xx[142] + xx[138] + xx[8] - (xx[99] + xx[150] + xx[153] - xx |
| 16111 | [171]) - xx[164]); |
| 16112 | xx[336] = fabs(xx[143] + xx[139] + xx[11] - (xx[100] + xx[151] + xx[154] - xx |
| 16113 | [172]) + xx[166]); |
| 16114 | xx[337] = fabs(xx[159] + xx[155] + xx[7] - (xx[27] + xx[132] + xx[109] - xx |
| 16115 | [209]) + xx[207]); |
| 16116 | xx[338] = fabs(xx[160] + xx[156] + xx[8] - (xx[28] + xx[133] + xx[110] - xx |
| 16117 | [213]) - xx[208]); |
| 16118 | xx[339] = fabs(xx[161] + xx[157] + xx[11] - (xx[29] + xx[134] + xx[111] - xx |
| 16119 | [214]) + xx[195]); |
| 16120 | xx[340] = fabs(xx[64] + xx[173] + xx[7] - (xx[197] + xx[182] + xx[190] - xx |
| 16121 | [230]) - xx[201]); |
| 16122 | xx[341] = fabs(xx[65] + xx[174] + xx[8] - (xx[198] + xx[183] + xx[191] - xx |
| 16123 | [231]) - xx[223]); |
| 16124 | xx[342] = fabs(xx[66] + xx[175] + xx[11] - (xx[199] + xx[184] + xx[192] - xx |
| 16125 | [232]) + xx[58]); |
| 16126 | ii[0] = 328; |
| 16127 | |
| 16128 | { |
| 16129 | int ll; |
| 16130 | for (ll = 329; ll < 343; ++ll) |
| 16131 | if (xx[ll] > xx[ii[0]]) |
| 16132 | ii[0] = ll; |
| 16133 | } |
| 16134 | |
| 16135 | ii[0] -= 328; |
| 16136 | xx[6] = xx[328 + (ii[0])]; |
| 16137 | xx[7] = 0.01; |
| 16138 | xx[8] = xx[6] - xx[7]; |
| 16139 | if (xx[8] < 0.0) |
| 16140 | ii[1] = -1; |
| 16141 | else if (xx[8] > 0.0) |
| 16142 | ii[1] = +1; |
| 16143 | else |
| 16144 | ii[1] = 0; |
| 16145 | ii[2] = ii[1]; |
| 16146 | if (0 > ii[2]) |
| 16147 | ii[2] = 0; |
| 16148 | if (ii[2] != 0) { |
| 16149 | switch (ii[0]) |
| 16150 | { |
| 16151 | case 0: |
| 16152 | case 1: |
| 16153 | case 2: |
| 16154 | { |
| 16155 | return sm_ssci_recordRunTimeError( |
| 16156 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 16157 | "'PlatformAssem/Rod_assem_11/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 16158 | neDiagMgr); |
| 16159 | } |
| 16160 | |
| 16161 | case 3: |
| 16162 | case 4: |
| 16163 | case 5: |
| 16164 | { |
| 16165 | return sm_ssci_recordRunTimeError( |
| 16166 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 16167 | "'PlatformAssem/Rod_assem_12/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 16168 | neDiagMgr); |
| 16169 | } |
| 16170 | |
| 16171 | case 6: |
| 16172 | case 7: |
| 16173 | case 8: |
| 16174 | { |
| 16175 | return sm_ssci_recordRunTimeError( |
| 16176 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 16177 | "'PlatformAssem/Rod_assem_13/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 16178 | neDiagMgr); |
| 16179 | } |
| 16180 | |
| 16181 | case 9: |
| 16182 | case 10: |
| 16183 | case 11: |
| 16184 | { |
| 16185 | return sm_ssci_recordRunTimeError( |
| 16186 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 16187 | "'PlatformAssem/Rod_assem_14/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 16188 | neDiagMgr); |
| 16189 | } |
| 16190 | |
| 16191 | case 12: |
| 16192 | case 13: |
| 16193 | case 14: |
| 16194 | { |
| 16195 | return sm_ssci_recordRunTimeError( |
| 16196 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 16197 | "'PlatformAssem/Rod_assem_1/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 16198 | neDiagMgr); |
| 16199 | } |
| 16200 | } |
| 16201 | } |
| 16202 | |
| 16203 | xx[6] = xx[2] * xx[815]; |
| 16204 | xx[8] = sin(xx[6]); |
| 16205 | xx[11] = cos(xx[6]); |
| 16206 | xx[6] = xx[1] * xx[8] - xx[5] * xx[11]; |
| 16207 | xx[14] = xx[2] * xx[817]; |
| 16208 | xx[15] = cos(xx[14]); |
| 16209 | xx[17] = xx[6] * xx[15]; |
| 16210 | xx[19] = sin(xx[14]); |
| 16211 | xx[14] = xx[1] * xx[11] + xx[5] * xx[8]; |
| 16212 | xx[23] = xx[19] * xx[14]; |
| 16213 | xx[24] = xx[12] * xx[11] + xx[13] * xx[8]; |
| 16214 | xx[26] = xx[12] * xx[8] - xx[13] * xx[11]; |
| 16215 | xx[8] = - (xx[15] * xx[24] + xx[26] * xx[19]); |
| 16216 | xx[11] = xx[19] * xx[24] - xx[26] * xx[15]; |
| 16217 | xx[27] = xx[6] * xx[19] + xx[15] * xx[14]; |
| 16218 | xx[31] = xx[17] - xx[23]; |
| 16219 | xx[32] = xx[8]; |
| 16220 | xx[33] = xx[11]; |
| 16221 | xx[34] = xx[27]; |
| 16222 | xx[28] = xx[21] * xx[822] - xx[25] * xx[819]; |
| 16223 | xx[29] = xx[21] * xx[821] + xx[25] * xx[820]; |
| 16224 | xx[35] = - xx[29]; |
| 16225 | xx[36] = xx[25] * xx[821] - xx[21] * xx[820]; |
| 16226 | xx[37] = - xx[36]; |
| 16227 | xx[38] = xx[21] * xx[819] + xx[25] * xx[822]; |
| 16228 | xx[40] = - xx[38]; |
| 16229 | xx[42] = xx[28]; |
| 16230 | xx[43] = xx[35]; |
| 16231 | xx[44] = xx[37]; |
| 16232 | xx[45] = xx[40]; |
| 16233 | xx[46] = xx[25] * xx[829] - xx[41] * xx[826]; |
| 16234 | xx[47] = xx[25] * xx[828] - xx[41] * xx[827]; |
| 16235 | xx[48] = xx[41] * xx[828] + xx[25] * xx[827]; |
| 16236 | xx[49] = - xx[48]; |
| 16237 | xx[50] = xx[41] * xx[829] + xx[25] * xx[826]; |
| 16238 | xx[41] = - xx[50]; |
| 16239 | xx[68] = xx[46]; |
| 16240 | xx[69] = xx[47]; |
| 16241 | xx[70] = xx[49]; |
| 16242 | xx[71] = xx[41]; |
| 16243 | xx[51] = xx[2] * xx[835]; |
| 16244 | xx[52] = cos(xx[51]); |
| 16245 | xx[53] = xx[2] * xx[833]; |
| 16246 | xx[58] = sin(xx[53]); |
| 16247 | xx[61] = xx[57] * xx[58]; |
| 16248 | xx[64] = xx[56] * xx[61]; |
| 16249 | xx[65] = xx[63] * xx[58]; |
| 16250 | xx[58] = xx[62] * xx[65]; |
| 16251 | xx[66] = cos(xx[53]); |
| 16252 | xx[53] = xx[62] * xx[66]; |
| 16253 | xx[75] = xx[64] + xx[58] - xx[53]; |
| 16254 | xx[76] = sin(xx[51]); |
| 16255 | xx[51] = xx[58] + xx[53] + xx[64]; |
| 16256 | xx[53] = xx[52] * xx[75] + xx[76] * xx[51]; |
| 16257 | xx[58] = xx[62] * xx[61]; |
| 16258 | xx[61] = xx[56] * xx[66]; |
| 16259 | xx[64] = xx[56] * xx[65]; |
| 16260 | xx[65] = xx[58] + xx[61] - xx[64]; |
| 16261 | xx[66] = xx[61] - xx[58] + xx[64]; |
| 16262 | xx[58] = xx[65] * xx[52] - xx[76] * xx[66]; |
| 16263 | xx[61] = xx[52] * xx[66] + xx[65] * xx[76]; |
| 16264 | xx[64] = xx[52] * xx[51] - xx[76] * xx[75]; |
| 16265 | xx[91] = xx[53]; |
| 16266 | xx[92] = xx[58]; |
| 16267 | xx[93] = xx[61]; |
| 16268 | xx[94] = xx[64]; |
| 16269 | pm_math_quatCompose(xx + 68, xx + 91, xx + 97); |
| 16270 | pm_math_quatCompose(xx + 42, xx + 97, xx + 136); |
| 16271 | pm_math_quatCompose(xx + 31, xx + 136, xx + 140); |
| 16272 | xx[81] = xx[80] * (xx[137] * xx[139] - xx[136] * xx[138]); |
| 16273 | xx[82] = (xx[136] * xx[137] + xx[138] * xx[139]) * xx[80]; |
| 16274 | xx[83] = xx[22] - (xx[137] * xx[137] + xx[138] * xx[138]) * xx[80]; |
| 16275 | pm_math_cross3(xx + 81, xx + 84, xx + 109); |
| 16276 | pm_math_quatXform(xx + 140, xx + 109, xx + 81); |
| 16277 | xx[140] = xx[75]; |
| 16278 | xx[141] = xx[65]; |
| 16279 | xx[142] = xx[66]; |
| 16280 | xx[143] = xx[51]; |
| 16281 | xx[77] = xx[87] * xx[76]; |
| 16282 | xx[78] = xx[52] * xx[77]; |
| 16283 | xx[88] = xx[90] * xx[76]; |
| 16284 | xx[89] = xx[88] * xx[76]; |
| 16285 | xx[101] = xx[79] + xx[80] * (xx[78] + xx[89]) - xx[90]; |
| 16286 | xx[79] = xx[77] * xx[76]; |
| 16287 | xx[77] = xx[52] * xx[88]; |
| 16288 | xx[88] = xx[87] - (xx[79] - xx[77]) * xx[80]; |
| 16289 | xx[109] = - xx[101]; |
| 16290 | xx[110] = - xx[88]; |
| 16291 | xx[111] = xx[96]; |
| 16292 | pm_math_quatXform(xx + 140, xx + 109, xx + 132); |
| 16293 | xx[96] = xx[105] * xx[66]; |
| 16294 | xx[109] = xx[65]; |
| 16295 | xx[110] = xx[66]; |
| 16296 | xx[111] = xx[51]; |
| 16297 | xx[103] = xx[104] * xx[51] - xx[65] * xx[105]; |
| 16298 | xx[105] = xx[104] * xx[66]; |
| 16299 | xx[144] = xx[96]; |
| 16300 | xx[145] = xx[103]; |
| 16301 | xx[146] = - xx[105]; |
| 16302 | pm_math_cross3(xx + 109, xx + 144, xx + 147); |
| 16303 | xx[104] = xx[3] + (xx[96] * xx[75] + xx[147]) * xx[80]; |
| 16304 | xx[3] = xx[132] - xx[104]; |
| 16305 | xx[96] = xx[108] - (xx[75] * xx[103] + xx[148]) * xx[80]; |
| 16306 | xx[103] = xx[133] + xx[96]; |
| 16307 | xx[107] = xx[18] + xx[80] * (xx[149] - xx[105] * xx[75]); |
| 16308 | xx[18] = xx[134] - xx[107]; |
| 16309 | xx[108] = xx[3]; |
| 16310 | xx[109] = xx[103]; |
| 16311 | xx[110] = xx[18]; |
| 16312 | pm_math_quatXform(xx + 68, xx + 108, xx + 132); |
| 16313 | pm_math_quatXform(xx + 68, xx + 112, xx + 144); |
| 16314 | xx[105] = xx[102] + xx[144]; |
| 16315 | xx[111] = xx[132] + xx[105]; |
| 16316 | xx[118] = xx[123] + xx[145]; |
| 16317 | xx[120] = xx[133] + xx[118]; |
| 16318 | xx[121] = xx[115] + xx[146]; |
| 16319 | xx[115] = xx[134] + xx[121]; |
| 16320 | xx[132] = xx[111]; |
| 16321 | xx[133] = xx[120]; |
| 16322 | xx[134] = xx[115]; |
| 16323 | pm_math_quatXform(xx + 42, xx + 132, xx + 144); |
| 16324 | pm_math_quatXform(xx + 42, xx + 126, xx + 147); |
| 16325 | xx[124] = xx[145] + xx[148]; |
| 16326 | xx[125] = xx[144] + xx[147]; |
| 16327 | xx[129] = xx[124] * xx[19] - xx[125] * xx[15]; |
| 16328 | xx[144] = xx[131] * xx[15] + xx[135] * xx[19]; |
| 16329 | xx[145] = xx[80] * xx[144] * xx[19]; |
| 16330 | xx[146] = xx[80] * xx[19] * xx[129] - (xx[124] - xx[145]) - xx[135]; |
| 16331 | xx[149] = xx[6]; |
| 16332 | xx[150] = xx[14]; |
| 16333 | xx[151] = xx[26]; |
| 16334 | xx[152] = xx[80] * xx[144] * xx[15]; |
| 16335 | xx[144] = xx[125] + xx[80] * xx[15] * xx[129] + xx[152] - xx[131]; |
| 16336 | xx[129] = xx[26] * xx[144]; |
| 16337 | xx[153] = xx[26] * xx[146]; |
| 16338 | xx[154] = xx[6] * xx[144] - xx[146] * xx[14]; |
| 16339 | xx[155] = - xx[129]; |
| 16340 | xx[156] = xx[153]; |
| 16341 | xx[157] = xx[154]; |
| 16342 | pm_math_cross3(xx + 149, xx + 155, xx + 158); |
| 16343 | xx[161] = - (xx[23] - xx[17]); |
| 16344 | xx[162] = xx[8]; |
| 16345 | xx[163] = xx[11]; |
| 16346 | xx[164] = xx[27]; |
| 16347 | pm_math_quatCompose(xx + 161, xx + 42, xx + 170); |
| 16348 | pm_math_quatCompose(xx + 170, xx + 97, xx + 179); |
| 16349 | xx[8] = xx[4] * xx[100]; |
| 16350 | xx[11] = xx[4] * xx[98] + xx[99]; |
| 16351 | xx[155] = xx[8]; |
| 16352 | xx[156] = xx[100]; |
| 16353 | xx[157] = - xx[11]; |
| 16354 | pm_math_cross3(xx + 98, xx + 155, xx + 183); |
| 16355 | xx[17] = xx[97] * xx[100]; |
| 16356 | xx[155] = xx[22] + (xx[183] - xx[97] * xx[8]) * xx[80]; |
| 16357 | xx[156] = xx[80] * (xx[184] - xx[17]) - xx[4]; |
| 16358 | xx[157] = xx[80] * (xx[185] + xx[97] * xx[11]); |
| 16359 | pm_math_cross3(xx + 155, xx + 84, xx + 183); |
| 16360 | pm_math_quatXform(xx + 179, xx + 183, xx + 155); |
| 16361 | xx[11] = - (xx[115] * xx[4]); |
| 16362 | xx[183] = xx[11]; |
| 16363 | xx[184] = - xx[115]; |
| 16364 | xx[185] = xx[120] + xx[111] * xx[4]; |
| 16365 | pm_math_quatXform(xx + 42, xx + 183, xx + 186); |
| 16366 | pm_math_quatXform(xx + 42, xx + 167, xx + 183); |
| 16367 | xx[189] = xx[186] + xx[183]; |
| 16368 | xx[190] = xx[187] + xx[184]; |
| 16369 | xx[191] = xx[188] + xx[185]; |
| 16370 | pm_math_quatXform(xx + 161, xx + 189, xx + 186); |
| 16371 | xx[23] = xx[98] - xx[4] * xx[99]; |
| 16372 | xx[189] = - xx[100]; |
| 16373 | xx[190] = xx[8]; |
| 16374 | xx[191] = xx[23]; |
| 16375 | pm_math_cross3(xx + 98, xx + 189, xx + 197); |
| 16376 | xx[189] = xx[4] + (xx[17] + xx[197]) * xx[80]; |
| 16377 | xx[190] = xx[22] + xx[80] * (xx[198] - xx[4] * xx[17]); |
| 16378 | xx[191] = xx[80] * (xx[199] - xx[97] * xx[23]); |
| 16379 | pm_math_cross3(xx + 189, xx + 84, xx + 197); |
| 16380 | pm_math_quatXform(xx + 179, xx + 197, xx + 189); |
| 16381 | xx[197] = xx[115]; |
| 16382 | xx[198] = xx[11]; |
| 16383 | xx[199] = xx[120] * xx[4] - xx[111]; |
| 16384 | pm_math_quatXform(xx + 42, xx + 197, xx + 200); |
| 16385 | pm_math_quatXform(xx + 42, xx + 176, xx + 197); |
| 16386 | xx[203] = xx[200] + xx[197]; |
| 16387 | xx[204] = xx[201] + xx[198]; |
| 16388 | xx[205] = xx[202] + xx[199]; |
| 16389 | pm_math_quatXform(xx + 161, xx + 203, xx + 200); |
| 16390 | xx[203] = xx[80] * (xx[98] * xx[100] - xx[97] * xx[99]); |
| 16391 | xx[204] = (xx[97] * xx[98] + xx[99] * xx[100]) * xx[80]; |
| 16392 | xx[205] = xx[22] - (xx[98] * xx[98] + xx[99] * xx[99]) * xx[80]; |
| 16393 | pm_math_cross3(xx + 203, xx + 84, xx + 206); |
| 16394 | pm_math_quatXform(xx + 179, xx + 206, xx + 203); |
| 16395 | xx[179] = xx[35]; |
| 16396 | xx[180] = xx[37]; |
| 16397 | xx[181] = xx[40]; |
| 16398 | xx[8] = xx[111] * xx[38]; |
| 16399 | xx[11] = xx[120] * xx[38]; |
| 16400 | xx[17] = xx[111] * xx[29] + xx[36] * xx[120]; |
| 16401 | xx[206] = xx[8]; |
| 16402 | xx[207] = xx[11]; |
| 16403 | xx[208] = - xx[17]; |
| 16404 | pm_math_cross3(xx + 179, xx + 206, xx + 209); |
| 16405 | xx[23] = xx[117] * xx[38]; |
| 16406 | xx[27] = xx[119] * xx[38]; |
| 16407 | xx[35] = xx[117] * xx[29] + xx[36] * xx[119]; |
| 16408 | xx[206] = xx[23]; |
| 16409 | xx[207] = xx[27]; |
| 16410 | xx[208] = - xx[35]; |
| 16411 | pm_math_cross3(xx + 179, xx + 206, xx + 212); |
| 16412 | xx[37] = xx[80] * (xx[212] + xx[23] * xx[28]); |
| 16413 | xx[23] = (xx[27] * xx[28] + xx[213]) * xx[80]; |
| 16414 | xx[27] = (xx[214] - xx[35] * xx[28]) * xx[80]; |
| 16415 | xx[206] = xx[80] * (xx[209] + xx[8] * xx[28]) + xx[37] - xx[120] - xx[119]; |
| 16416 | xx[207] = xx[111] + xx[80] * (xx[210] + xx[11] * xx[28]) + xx[23] + xx[117]; |
| 16417 | xx[208] = (xx[211] - xx[28] * xx[17]) * xx[80] + xx[27]; |
| 16418 | pm_math_quatXform(xx + 161, xx + 206, xx + 209); |
| 16419 | pm_math_quatCompose(xx + 170, xx + 68, xx + 212); |
| 16420 | pm_math_quatCompose(xx + 212, xx + 91, xx + 216); |
| 16421 | xx[8] = xx[61] * xx[61]; |
| 16422 | xx[11] = xx[64] * xx[64]; |
| 16423 | xx[17] = xx[61] * xx[58]; |
| 16424 | xx[35] = xx[53] * xx[64]; |
| 16425 | xx[40] = xx[53] * xx[61]; |
| 16426 | xx[111] = xx[64] * xx[58]; |
| 16427 | xx[206] = xx[22] - (xx[8] + xx[11]) * xx[80]; |
| 16428 | xx[207] = xx[80] * (xx[17] - xx[35]); |
| 16429 | xx[208] = (xx[40] + xx[111]) * xx[80]; |
| 16430 | pm_math_cross3(xx + 206, xx + 84, xx + 220); |
| 16431 | pm_math_quatXform(xx + 216, xx + 220, xx + 206); |
| 16432 | xx[220] = xx[47]; |
| 16433 | xx[221] = xx[49]; |
| 16434 | xx[222] = xx[41]; |
| 16435 | xx[41] = xx[48] * xx[103]; |
| 16436 | xx[49] = xx[50] * xx[18]; |
| 16437 | xx[115] = xx[41] + xx[49]; |
| 16438 | xx[120] = xx[103] * xx[47]; |
| 16439 | xx[166] = xx[18] * xx[47]; |
| 16440 | xx[223] = - xx[115]; |
| 16441 | xx[224] = - xx[120]; |
| 16442 | xx[225] = - xx[166]; |
| 16443 | pm_math_cross3(xx + 220, xx + 223, xx + 226); |
| 16444 | xx[174] = xx[48] * xx[73]; |
| 16445 | xx[175] = xx[50] * xx[74]; |
| 16446 | xx[182] = xx[174] - xx[175]; |
| 16447 | xx[192] = xx[73] * xx[47]; |
| 16448 | xx[193] = xx[74] * xx[47]; |
| 16449 | xx[223] = xx[182]; |
| 16450 | xx[224] = xx[192]; |
| 16451 | xx[225] = - xx[193]; |
| 16452 | pm_math_cross3(xx + 220, xx + 223, xx + 229); |
| 16453 | xx[195] = (xx[46] * xx[182] + xx[229]) * xx[80]; |
| 16454 | xx[182] = xx[80] * (xx[230] + xx[192] * xx[46]); |
| 16455 | xx[192] = (xx[231] - xx[193] * xx[46]) * xx[80]; |
| 16456 | xx[223] = xx[80] * (xx[226] - xx[115] * xx[46]) + xx[195]; |
| 16457 | xx[224] = xx[80] * (xx[227] - xx[120] * xx[46]) + xx[182] - xx[18] - xx[74]; |
| 16458 | xx[225] = xx[103] + xx[80] * (xx[228] - xx[166] * xx[46]) + xx[192] - xx[73]; |
| 16459 | pm_math_quatXform(xx + 170, xx + 223, xx + 226); |
| 16460 | xx[115] = xx[58] * xx[58]; |
| 16461 | xx[120] = xx[61] * xx[64]; |
| 16462 | xx[61] = xx[53] * xx[58]; |
| 16463 | xx[223] = (xx[35] + xx[17]) * xx[80]; |
| 16464 | xx[224] = xx[22] - (xx[11] + xx[115]) * xx[80]; |
| 16465 | xx[225] = xx[80] * (xx[120] - xx[61]); |
| 16466 | pm_math_cross3(xx + 223, xx + 84, xx + 229); |
| 16467 | pm_math_quatXform(xx + 216, xx + 229, xx + 223); |
| 16468 | xx[11] = xx[48] * xx[3]; |
| 16469 | xx[17] = xx[3] * xx[47]; |
| 16470 | xx[35] = xx[17] - xx[49]; |
| 16471 | xx[49] = xx[48] * xx[18]; |
| 16472 | xx[229] = xx[11]; |
| 16473 | xx[230] = xx[35]; |
| 16474 | xx[231] = xx[49]; |
| 16475 | pm_math_cross3(xx + 220, xx + 229, xx + 232); |
| 16476 | xx[53] = xx[48] * xx[72]; |
| 16477 | xx[58] = xx[72] * xx[47]; |
| 16478 | xx[64] = xx[175] - xx[58]; |
| 16479 | xx[166] = xx[48] * xx[74]; |
| 16480 | xx[229] = xx[53]; |
| 16481 | xx[230] = - xx[64]; |
| 16482 | xx[231] = xx[166]; |
| 16483 | pm_math_cross3(xx + 220, xx + 229, xx + 235); |
| 16484 | xx[175] = xx[80] * (xx[235] + xx[53] * xx[46]); |
| 16485 | xx[53] = xx[80] * (xx[236] - xx[64] * xx[46]); |
| 16486 | xx[64] = (xx[166] * xx[46] + xx[237]) * xx[80]; |
| 16487 | xx[229] = xx[18] + (xx[11] * xx[46] + xx[232]) * xx[80] + xx[175] + xx[74]; |
| 16488 | xx[230] = (xx[46] * xx[35] + xx[233]) * xx[80] + xx[53]; |
| 16489 | xx[231] = (xx[49] * xx[46] + xx[234]) * xx[80] + xx[64] - xx[3] - xx[72]; |
| 16490 | pm_math_quatXform(xx + 170, xx + 229, xx + 232); |
| 16491 | xx[229] = xx[80] * (xx[111] - xx[40]); |
| 16492 | xx[230] = (xx[61] + xx[120]) * xx[80]; |
| 16493 | xx[231] = xx[22] - (xx[115] + xx[8]) * xx[80]; |
| 16494 | pm_math_cross3(xx + 229, xx + 84, xx + 235); |
| 16495 | pm_math_quatXform(xx + 216, xx + 235, xx + 229); |
| 16496 | xx[8] = xx[50] * xx[3]; |
| 16497 | xx[11] = xx[50] * xx[103]; |
| 16498 | xx[18] = xx[17] - xx[41]; |
| 16499 | xx[216] = xx[8]; |
| 16500 | xx[217] = xx[11]; |
| 16501 | xx[218] = xx[18]; |
| 16502 | pm_math_cross3(xx + 220, xx + 216, xx + 235); |
| 16503 | xx[17] = xx[50] * xx[72]; |
| 16504 | xx[35] = xx[50] * xx[73]; |
| 16505 | xx[40] = xx[58] + xx[174]; |
| 16506 | xx[216] = xx[17]; |
| 16507 | xx[217] = - xx[35]; |
| 16508 | xx[218] = xx[40]; |
| 16509 | pm_math_cross3(xx + 220, xx + 216, xx + 244); |
| 16510 | xx[41] = (xx[17] * xx[46] + xx[244]) * xx[80]; |
| 16511 | xx[17] = xx[80] * (xx[245] - xx[35] * xx[46]); |
| 16512 | xx[35] = (xx[40] * xx[46] + xx[246]) * xx[80]; |
| 16513 | xx[216] = (xx[8] * xx[46] + xx[235]) * xx[80] + xx[41] - xx[103] + xx[73]; |
| 16514 | xx[217] = xx[3] + (xx[11] * xx[46] + xx[236]) * xx[80] + xx[17] + xx[72]; |
| 16515 | xx[218] = (xx[46] * xx[18] + xx[237]) * xx[80] + xx[35]; |
| 16516 | pm_math_quatXform(xx + 170, xx + 216, xx + 235); |
| 16517 | pm_math_quatCompose(xx + 212, xx + 140, xx + 216); |
| 16518 | xx[3] = xx[52] * xx[216] + xx[219] * xx[76]; |
| 16519 | xx[8] = xx[52] * xx[217] - xx[218] * xx[76]; |
| 16520 | xx[11] = xx[52] * xx[218] + xx[217] * xx[76]; |
| 16521 | xx[18] = xx[52] * xx[219] - xx[216] * xx[76]; |
| 16522 | xx[244] = xx[3]; |
| 16523 | xx[245] = xx[8]; |
| 16524 | xx[246] = xx[11]; |
| 16525 | xx[247] = xx[18]; |
| 16526 | xx[40] = xx[57] * xx[76]; |
| 16527 | xx[49] = xx[80] * xx[52] * xx[40]; |
| 16528 | xx[58] = xx[80] * xx[40] * xx[76] - xx[57]; |
| 16529 | xx[248] = xx[74] * xx[49] + xx[55]; |
| 16530 | xx[249] = xx[106] + xx[74] * xx[58]; |
| 16531 | xx[250] = xx[73] * xx[58] - xx[72] * xx[49]; |
| 16532 | pm_math_quatXform(xx + 244, xx + 248, xx + 251); |
| 16533 | xx[244] = - (xx[63] * xx[88]); |
| 16534 | xx[245] = xx[63] * xx[101] - xx[60]; |
| 16535 | xx[246] = xx[57] * xx[88]; |
| 16536 | pm_math_quatXform(xx + 140, xx + 244, xx + 247); |
| 16537 | xx[40] = xx[67] * xx[51]; |
| 16538 | xx[49] = xx[65] * xx[67]; |
| 16539 | xx[58] = xx[40] * xx[75] - xx[49] * xx[66]; |
| 16540 | xx[60] = xx[80] * xx[58]; |
| 16541 | xx[61] = (xx[40] * xx[51] + xx[65] * xx[49]) * xx[80]; |
| 16542 | xx[103] = xx[49] * xx[75] + xx[40] * xx[66]; |
| 16543 | xx[40] = xx[103] * xx[80]; |
| 16544 | xx[244] = xx[247] + xx[60]; |
| 16545 | xx[245] = xx[248] + xx[61] - xx[67]; |
| 16546 | xx[246] = xx[249] - xx[40]; |
| 16547 | pm_math_quatXform(xx + 212, xx + 244, xx + 247); |
| 16548 | xx[244] = xx[8]; |
| 16549 | xx[245] = xx[11]; |
| 16550 | xx[246] = xx[18]; |
| 16551 | xx[49] = xx[72] * xx[18]; |
| 16552 | xx[111] = xx[73] * xx[18]; |
| 16553 | xx[18] = xx[72] * xx[8] - xx[11] * xx[73]; |
| 16554 | xx[258] = - xx[49]; |
| 16555 | xx[259] = xx[111]; |
| 16556 | xx[260] = xx[18]; |
| 16557 | pm_math_cross3(xx + 244, xx + 258, xx + 263); |
| 16558 | xx[8] = xx[80] * (xx[79] - xx[77]) - xx[87]; |
| 16559 | xx[11] = (xx[78] + xx[89]) * xx[80] - xx[90]; |
| 16560 | xx[77] = xx[219] * xx[11]; |
| 16561 | xx[78] = xx[8] * xx[219]; |
| 16562 | xx[79] = xx[217] * xx[11] - xx[8] * xx[218]; |
| 16563 | xx[244] = - xx[77]; |
| 16564 | xx[245] = xx[78]; |
| 16565 | xx[246] = xx[79]; |
| 16566 | pm_math_cross3(xx + 217, xx + 244, xx + 258); |
| 16567 | xx[87] = xx[2] * xx[858]; |
| 16568 | xx[89] = cos(xx[87]); |
| 16569 | xx[90] = xx[2] * xx[856]; |
| 16570 | xx[115] = cos(xx[90]); |
| 16571 | xx[120] = sin(xx[90]); |
| 16572 | xx[90] = xx[122] * xx[115] + xx[165] * xx[120]; |
| 16573 | xx[166] = xx[89] * xx[90]; |
| 16574 | xx[174] = xx[165] * xx[115] - xx[122] * xx[120]; |
| 16575 | xx[122] = sin(xx[87]); |
| 16576 | xx[87] = xx[174] * xx[122]; |
| 16577 | xx[165] = xx[239] * xx[115] - xx[240] * xx[120]; |
| 16578 | xx[193] = xx[240] * xx[115] + xx[239] * xx[120]; |
| 16579 | xx[115] = - (xx[165] * xx[89] - xx[122] * xx[193]); |
| 16580 | xx[120] = xx[165] * xx[122] + xx[89] * xx[193]; |
| 16581 | xx[238] = xx[174] * xx[89] - xx[122] * xx[90]; |
| 16582 | xx[239] = - (xx[166] + xx[87]); |
| 16583 | xx[240] = xx[115]; |
| 16584 | xx[241] = xx[120]; |
| 16585 | xx[242] = xx[238]; |
| 16586 | xx[244] = xx[21] * xx[863] - xx[25] * xx[860]; |
| 16587 | xx[245] = xx[21] * xx[862] + xx[25] * xx[861]; |
| 16588 | xx[246] = - xx[245]; |
| 16589 | xx[250] = xx[25] * xx[862] - xx[21] * xx[861]; |
| 16590 | xx[255] = - xx[250]; |
| 16591 | xx[256] = xx[21] * xx[860] + xx[25] * xx[863]; |
| 16592 | xx[261] = - xx[256]; |
| 16593 | xx[271] = xx[244]; |
| 16594 | xx[272] = xx[246]; |
| 16595 | xx[273] = xx[255]; |
| 16596 | xx[274] = xx[261]; |
| 16597 | pm_math_quatCompose(xx + 239, xx + 271, xx + 275); |
| 16598 | xx[239] = (xx[250] * xx[244] + xx[245] * xx[256]) * xx[80]; |
| 16599 | xx[240] = xx[80] * (xx[250] * xx[256] - xx[244] * xx[245]); |
| 16600 | xx[241] = xx[22] - (xx[245] * xx[245] + xx[250] * xx[250]) * xx[80]; |
| 16601 | pm_math_cross3(xx + 239, xx + 267, xx + 283); |
| 16602 | pm_math_quatXform(xx + 275, xx + 283, xx + 239); |
| 16603 | pm_math_quatXform(xx + 271, xx + 126, xx + 275); |
| 16604 | xx[242] = xx[276] * xx[122] - xx[89] * xx[275]; |
| 16605 | xx[277] = xx[266] * xx[122] - xx[270] * xx[89]; |
| 16606 | xx[278] = xx[80] * xx[277] * xx[122]; |
| 16607 | xx[279] = xx[80] * xx[122] * xx[242] - (xx[276] + xx[278]) + xx[266]; |
| 16608 | xx[283] = - xx[90]; |
| 16609 | xx[284] = - xx[193]; |
| 16610 | xx[285] = xx[283]; |
| 16611 | xx[286] = xx[174]; |
| 16612 | xx[287] = xx[284]; |
| 16613 | xx[288] = xx[80] * xx[277] * xx[89]; |
| 16614 | xx[277] = xx[275] + xx[80] * xx[89] * xx[242] - xx[288] - xx[270]; |
| 16615 | xx[242] = xx[277] * xx[193]; |
| 16616 | xx[289] = xx[279] * xx[193]; |
| 16617 | xx[290] = xx[277] * xx[90] + xx[279] * xx[174]; |
| 16618 | xx[291] = xx[242]; |
| 16619 | xx[292] = - xx[289]; |
| 16620 | xx[293] = - xx[290]; |
| 16621 | pm_math_cross3(xx + 285, xx + 291, xx + 294); |
| 16622 | xx[300] = - (xx[87] + xx[166]); |
| 16623 | xx[301] = xx[115]; |
| 16624 | xx[302] = xx[120]; |
| 16625 | xx[303] = xx[238]; |
| 16626 | pm_math_quatCompose(xx + 300, xx + 271, xx + 304); |
| 16627 | pm_math_quatXform(xx + 304, xx + 280, xx + 285); |
| 16628 | pm_math_quatXform(xx + 271, xx + 167, xx + 291); |
| 16629 | pm_math_quatXform(xx + 300, xx + 291, xx + 308); |
| 16630 | pm_math_quatXform(xx + 304, xx + 297, xx + 291); |
| 16631 | pm_math_quatXform(xx + 271, xx + 176, xx + 315); |
| 16632 | pm_math_quatXform(xx + 300, xx + 315, xx + 318); |
| 16633 | xx[87] = xx[102] * xx[307]; |
| 16634 | xx[115] = xx[102] * xx[305] + xx[123] * xx[306]; |
| 16635 | xx[315] = - xx[87]; |
| 16636 | xx[316] = - (xx[123] * xx[307]); |
| 16637 | xx[317] = xx[115]; |
| 16638 | pm_math_cross3(xx + 305, xx + 315, xx + 321); |
| 16639 | xx[315] = xx[246]; |
| 16640 | xx[316] = xx[255]; |
| 16641 | xx[317] = xx[261]; |
| 16642 | xx[120] = xx[117] * xx[256]; |
| 16643 | xx[166] = xx[119] * xx[256]; |
| 16644 | xx[238] = xx[117] * xx[245] + xx[250] * xx[119]; |
| 16645 | xx[328] = xx[120]; |
| 16646 | xx[329] = xx[166]; |
| 16647 | xx[330] = - xx[238]; |
| 16648 | pm_math_cross3(xx + 315, xx + 328, xx + 331); |
| 16649 | xx[315] = xx[80] * (xx[331] + xx[120] * xx[244]) - xx[119]; |
| 16650 | xx[316] = xx[117] + (xx[166] * xx[244] + xx[332]) * xx[80]; |
| 16651 | xx[317] = (xx[333] - xx[238] * xx[244]) * xx[80]; |
| 16652 | pm_math_quatXform(xx + 300, xx + 315, xx + 328); |
| 16653 | xx[120] = xx[2] * xx[837]; |
| 16654 | xx[166] = sin(xx[120]); |
| 16655 | xx[238] = xx[62] * xx[166]; |
| 16656 | xx[246] = cos(xx[120]); |
| 16657 | xx[120] = xx[62] * xx[246]; |
| 16658 | xx[62] = xx[238] - xx[120]; |
| 16659 | xx[255] = xx[56] * xx[246]; |
| 16660 | xx[246] = xx[56] * xx[166]; |
| 16661 | xx[56] = xx[255] + xx[246]; |
| 16662 | xx[166] = - xx[56]; |
| 16663 | xx[261] = xx[246] - xx[255]; |
| 16664 | xx[246] = xx[238] + xx[120]; |
| 16665 | xx[120] = - xx[246]; |
| 16666 | xx[300] = xx[62]; |
| 16667 | xx[301] = xx[166]; |
| 16668 | xx[302] = xx[261]; |
| 16669 | xx[303] = xx[120]; |
| 16670 | pm_math_quatCompose(xx + 140, xx + 300, xx + 331); |
| 16671 | pm_math_quatCompose(xx + 68, xx + 331, xx + 335); |
| 16672 | pm_math_quatCompose(xx + 42, xx + 335, xx + 339); |
| 16673 | pm_math_quatCompose(xx + 31, xx + 339, xx + 343); |
| 16674 | xx[315] = xx[80] * (xx[340] * xx[342] - xx[339] * xx[341]); |
| 16675 | xx[316] = (xx[339] * xx[340] + xx[341] * xx[342]) * xx[80]; |
| 16676 | xx[317] = xx[22] - (xx[340] * xx[340] + xx[341] * xx[341]) * xx[80]; |
| 16677 | pm_math_cross3(xx + 315, xx + 84, xx + 347); |
| 16678 | pm_math_quatXform(xx + 343, xx + 347, xx + 315); |
| 16679 | pm_math_quatXform(xx + 300, xx + 324, xx + 343); |
| 16680 | xx[238] = xx[243] - xx[343]; |
| 16681 | xx[243] = xx[262] - xx[345]; |
| 16682 | xx[324] = xx[238]; |
| 16683 | xx[325] = - xx[344]; |
| 16684 | xx[326] = xx[243]; |
| 16685 | pm_math_quatXform(xx + 140, xx + 324, xx + 345); |
| 16686 | xx[255] = xx[345] - xx[104]; |
| 16687 | xx[262] = xx[346] + xx[96]; |
| 16688 | xx[305] = xx[347] - xx[107]; |
| 16689 | xx[324] = xx[255]; |
| 16690 | xx[325] = xx[262]; |
| 16691 | xx[326] = xx[305]; |
| 16692 | pm_math_quatXform(xx + 68, xx + 324, xx + 345); |
| 16693 | xx[306] = xx[345] + xx[105]; |
| 16694 | xx[311] = xx[346] + xx[118]; |
| 16695 | xx[313] = xx[347] + xx[121]; |
| 16696 | xx[345] = xx[306]; |
| 16697 | xx[346] = xx[311]; |
| 16698 | xx[347] = xx[313]; |
| 16699 | pm_math_quatXform(xx + 42, xx + 345, xx + 348); |
| 16700 | xx[343] = xx[349] + xx[148]; |
| 16701 | xx[349] = xx[348] + xx[147]; |
| 16702 | xx[348] = xx[343] * xx[19] - xx[349] * xx[15]; |
| 16703 | xx[350] = xx[80] * xx[19] * xx[348] - (xx[343] - xx[145]) - xx[135]; |
| 16704 | xx[351] = xx[349] + xx[80] * xx[15] * xx[348] + xx[152] - xx[131]; |
| 16705 | xx[348] = xx[26] * xx[351]; |
| 16706 | xx[352] = xx[26] * xx[350]; |
| 16707 | xx[353] = xx[6] * xx[351] - xx[350] * xx[14]; |
| 16708 | xx[354] = - xx[348]; |
| 16709 | xx[355] = xx[352]; |
| 16710 | xx[356] = xx[353]; |
| 16711 | pm_math_cross3(xx + 149, xx + 354, xx + 357); |
| 16712 | pm_math_quatCompose(xx + 170, xx + 335, xx + 360); |
| 16713 | xx[354] = xx[4] * xx[338]; |
| 16714 | xx[355] = xx[4] * xx[336] + xx[337]; |
| 16715 | xx[364] = xx[354]; |
| 16716 | xx[365] = xx[338]; |
| 16717 | xx[366] = - xx[355]; |
| 16718 | pm_math_cross3(xx + 336, xx + 364, xx + 367); |
| 16719 | xx[356] = xx[335] * xx[338]; |
| 16720 | xx[364] = xx[22] + (xx[367] - xx[335] * xx[354]) * xx[80]; |
| 16721 | xx[365] = xx[80] * (xx[368] - xx[356]) - xx[4]; |
| 16722 | xx[366] = xx[80] * (xx[369] + xx[335] * xx[355]); |
| 16723 | pm_math_cross3(xx + 364, xx + 84, xx + 367); |
| 16724 | pm_math_quatXform(xx + 360, xx + 367, xx + 364); |
| 16725 | xx[355] = - (xx[313] * xx[4]); |
| 16726 | xx[367] = xx[355]; |
| 16727 | xx[368] = - xx[313]; |
| 16728 | xx[369] = xx[311] + xx[306] * xx[4]; |
| 16729 | pm_math_quatXform(xx + 42, xx + 367, xx + 370); |
| 16730 | xx[367] = xx[370] + xx[183]; |
| 16731 | xx[368] = xx[371] + xx[184]; |
| 16732 | xx[369] = xx[372] + xx[185]; |
| 16733 | pm_math_quatXform(xx + 161, xx + 367, xx + 370); |
| 16734 | xx[367] = xx[336] - xx[4] * xx[337]; |
| 16735 | xx[373] = - xx[338]; |
| 16736 | xx[374] = xx[354]; |
| 16737 | xx[375] = xx[367]; |
| 16738 | pm_math_cross3(xx + 336, xx + 373, xx + 376); |
| 16739 | xx[373] = xx[4] + (xx[356] + xx[376]) * xx[80]; |
| 16740 | xx[374] = xx[22] + xx[80] * (xx[377] - xx[4] * xx[356]); |
| 16741 | xx[375] = xx[80] * (xx[378] - xx[335] * xx[367]); |
| 16742 | pm_math_cross3(xx + 373, xx + 84, xx + 367); |
| 16743 | pm_math_quatXform(xx + 360, xx + 367, xx + 373); |
| 16744 | xx[367] = xx[313]; |
| 16745 | xx[368] = xx[355]; |
| 16746 | xx[369] = xx[311] * xx[4] - xx[306]; |
| 16747 | pm_math_quatXform(xx + 42, xx + 367, xx + 354); |
| 16748 | xx[367] = xx[354] + xx[197]; |
| 16749 | xx[368] = xx[355] + xx[198]; |
| 16750 | xx[369] = xx[356] + xx[199]; |
| 16751 | pm_math_quatXform(xx + 161, xx + 367, xx + 354); |
| 16752 | xx[367] = xx[80] * (xx[336] * xx[338] - xx[335] * xx[337]); |
| 16753 | xx[368] = (xx[335] * xx[336] + xx[337] * xx[338]) * xx[80]; |
| 16754 | xx[369] = xx[22] - (xx[336] * xx[336] + xx[337] * xx[337]) * xx[80]; |
| 16755 | pm_math_cross3(xx + 367, xx + 84, xx + 376); |
| 16756 | pm_math_quatXform(xx + 360, xx + 376, xx + 367); |
| 16757 | xx[313] = xx[306] * xx[38]; |
| 16758 | xx[360] = xx[311] * xx[38]; |
| 16759 | xx[361] = xx[306] * xx[29] + xx[311] * xx[36]; |
| 16760 | xx[376] = xx[313]; |
| 16761 | xx[377] = xx[360]; |
| 16762 | xx[378] = - xx[361]; |
| 16763 | pm_math_cross3(xx + 179, xx + 376, xx + 380); |
| 16764 | xx[376] = xx[80] * (xx[380] + xx[313] * xx[28]) + xx[37] - xx[311] - xx[119]; |
| 16765 | xx[377] = xx[306] + xx[80] * (xx[381] + xx[360] * xx[28]) + xx[23] + xx[117]; |
| 16766 | xx[378] = (xx[382] - xx[28] * xx[361]) * xx[80] + xx[27]; |
| 16767 | pm_math_quatXform(xx + 161, xx + 376, xx + 360); |
| 16768 | pm_math_quatCompose(xx + 212, xx + 331, xx + 380); |
| 16769 | xx[306] = xx[333] * xx[333]; |
| 16770 | xx[311] = xx[334] * xx[334]; |
| 16771 | xx[313] = xx[332] * xx[333]; |
| 16772 | xx[363] = xx[331] * xx[334]; |
| 16773 | xx[376] = xx[331] * xx[333]; |
| 16774 | xx[377] = xx[332] * xx[334]; |
| 16775 | xx[384] = xx[22] - (xx[306] + xx[311]) * xx[80]; |
| 16776 | xx[385] = xx[80] * (xx[313] - xx[363]); |
| 16777 | xx[386] = (xx[376] + xx[377]) * xx[80]; |
| 16778 | pm_math_cross3(xx + 384, xx + 84, xx + 387); |
| 16779 | pm_math_quatXform(xx + 380, xx + 387, xx + 384); |
| 16780 | xx[378] = xx[262] * xx[48]; |
| 16781 | xx[387] = xx[305] * xx[50]; |
| 16782 | xx[388] = xx[378] + xx[387]; |
| 16783 | xx[389] = xx[262] * xx[47]; |
| 16784 | xx[390] = xx[305] * xx[47]; |
| 16785 | xx[391] = - xx[388]; |
| 16786 | xx[392] = - xx[389]; |
| 16787 | xx[393] = - xx[390]; |
| 16788 | pm_math_cross3(xx + 220, xx + 391, xx + 394); |
| 16789 | xx[391] = xx[80] * (xx[394] - xx[388] * xx[46]) + xx[195]; |
| 16790 | xx[392] = xx[80] * (xx[395] - xx[389] * xx[46]) + xx[182] - xx[305] - xx[74]; |
| 16791 | xx[393] = xx[262] + xx[80] * (xx[396] - xx[390] * xx[46]) + xx[192] - xx[73]; |
| 16792 | pm_math_quatXform(xx + 170, xx + 391, xx + 388); |
| 16793 | xx[391] = xx[332] * xx[332]; |
| 16794 | xx[392] = xx[333] * xx[334]; |
| 16795 | xx[393] = xx[331] * xx[332]; |
| 16796 | xx[394] = (xx[363] + xx[313]) * xx[80]; |
| 16797 | xx[395] = xx[22] - (xx[311] + xx[391]) * xx[80]; |
| 16798 | xx[396] = xx[80] * (xx[392] - xx[393]); |
| 16799 | pm_math_cross3(xx + 394, xx + 84, xx + 402); |
| 16800 | pm_math_quatXform(xx + 380, xx + 402, xx + 394); |
| 16801 | xx[311] = xx[255] * xx[48]; |
| 16802 | xx[313] = xx[255] * xx[47]; |
| 16803 | xx[363] = xx[313] - xx[387]; |
| 16804 | xx[387] = xx[305] * xx[48]; |
| 16805 | xx[402] = xx[311]; |
| 16806 | xx[403] = xx[363]; |
| 16807 | xx[404] = xx[387]; |
| 16808 | pm_math_cross3(xx + 220, xx + 402, xx + 405); |
| 16809 | xx[402] = xx[305] + (xx[311] * xx[46] + xx[405]) * xx[80] + xx[175] + xx[74]; |
| 16810 | xx[403] = (xx[46] * xx[363] + xx[406]) * xx[80] + xx[53]; |
| 16811 | xx[404] = (xx[387] * xx[46] + xx[407]) * xx[80] + xx[64] - xx[255] - xx[72]; |
| 16812 | pm_math_quatXform(xx + 170, xx + 402, xx + 405); |
| 16813 | xx[402] = xx[80] * (xx[377] - xx[376]); |
| 16814 | xx[403] = (xx[393] + xx[392]) * xx[80]; |
| 16815 | xx[404] = xx[22] - (xx[391] + xx[306]) * xx[80]; |
| 16816 | pm_math_cross3(xx + 402, xx + 84, xx + 391); |
| 16817 | pm_math_quatXform(xx + 380, xx + 391, xx + 402); |
| 16818 | xx[305] = xx[255] * xx[50]; |
| 16819 | xx[306] = xx[262] * xx[50]; |
| 16820 | xx[311] = xx[313] - xx[378]; |
| 16821 | xx[376] = xx[305]; |
| 16822 | xx[377] = xx[306]; |
| 16823 | xx[378] = xx[311]; |
| 16824 | pm_math_cross3(xx + 220, xx + 376, xx + 380); |
| 16825 | xx[376] = (xx[305] * xx[46] + xx[380]) * xx[80] + xx[41] - xx[262] + xx[73]; |
| 16826 | xx[377] = xx[255] + (xx[306] * xx[46] + xx[381]) * xx[80] + xx[17] + xx[72]; |
| 16827 | xx[378] = (xx[46] * xx[311] + xx[382]) * xx[80] + xx[35]; |
| 16828 | pm_math_quatXform(xx + 170, xx + 376, xx + 380); |
| 16829 | pm_math_quatCompose(xx + 216, xx + 300, xx + 411); |
| 16830 | xx[300] = xx[166]; |
| 16831 | xx[301] = xx[261]; |
| 16832 | xx[302] = xx[120]; |
| 16833 | xx[120] = xx[63] * xx[261]; |
| 16834 | xx[166] = xx[246] * xx[57] - xx[56] * xx[63]; |
| 16835 | xx[255] = xx[57] * xx[261]; |
| 16836 | xx[376] = - xx[120]; |
| 16837 | xx[377] = xx[166]; |
| 16838 | xx[378] = xx[255]; |
| 16839 | pm_math_cross3(xx + 300, xx + 376, xx + 391); |
| 16840 | xx[376] = xx[80] * (xx[391] + xx[120] * xx[62]) - xx[57]; |
| 16841 | xx[377] = xx[80] * (xx[392] - xx[62] * xx[166]); |
| 16842 | xx[378] = (xx[393] - xx[255] * xx[62]) * xx[80] - xx[63]; |
| 16843 | pm_math_cross3(xx + 376, xx + 84, xx + 391); |
| 16844 | pm_math_quatXform(xx + 411, xx + 391, xx + 376); |
| 16845 | xx[391] = - (xx[63] * xx[344]); |
| 16846 | xx[392] = xx[57] * xx[243] - xx[63] * xx[238]; |
| 16847 | xx[393] = xx[57] * xx[344]; |
| 16848 | pm_math_quatXform(xx + 140, xx + 391, xx + 415); |
| 16849 | xx[391] = xx[415] + xx[60]; |
| 16850 | xx[392] = xx[416] + xx[61] - xx[67]; |
| 16851 | xx[393] = xx[417] - xx[40]; |
| 16852 | pm_math_quatXform(xx + 212, xx + 391, xx + 415); |
| 16853 | xx[120] = xx[72] * xx[414]; |
| 16854 | xx[166] = xx[73] * xx[413] - xx[72] * xx[412]; |
| 16855 | xx[391] = xx[120]; |
| 16856 | xx[392] = - (xx[73] * xx[414]); |
| 16857 | xx[393] = xx[166]; |
| 16858 | pm_math_cross3(xx + 412, xx + 391, xx + 418); |
| 16859 | xx[255] = xx[246] * xx[254]; |
| 16860 | xx[262] = xx[246] * xx[257]; |
| 16861 | xx[303] = xx[257] * xx[261] - xx[56] * xx[254]; |
| 16862 | xx[391] = xx[255]; |
| 16863 | xx[392] = xx[262]; |
| 16864 | xx[393] = xx[303]; |
| 16865 | pm_math_cross3(xx + 300, xx + 391, xx + 421); |
| 16866 | xx[305] = xx[80] * (xx[421] + xx[255] * xx[62]) - xx[257]; |
| 16867 | xx[255] = xx[254] + (xx[262] * xx[62] + xx[422]) * xx[80]; |
| 16868 | xx[254] = xx[62] * xx[303] + xx[423]; |
| 16869 | xx[257] = xx[254] * xx[80]; |
| 16870 | xx[391] = xx[305]; |
| 16871 | xx[392] = xx[255]; |
| 16872 | xx[393] = xx[257]; |
| 16873 | pm_math_quatXform(xx + 216, xx + 391, xx + 421); |
| 16874 | xx[262] = xx[2] * xx[845]; |
| 16875 | xx[303] = sin(xx[262]); |
| 16876 | xx[306] = cos(xx[262]); |
| 16877 | xx[262] = xx[1] * xx[303] - xx[5] * xx[306]; |
| 16878 | xx[311] = xx[2] * xx[847]; |
| 16879 | xx[313] = cos(xx[311]); |
| 16880 | xx[363] = xx[262] * xx[313]; |
| 16881 | xx[383] = sin(xx[311]); |
| 16882 | xx[311] = xx[1] * xx[306] + xx[5] * xx[303]; |
| 16883 | xx[1] = xx[383] * xx[311]; |
| 16884 | xx[5] = xx[12] * xx[306] + xx[13] * xx[303]; |
| 16885 | xx[387] = xx[12] * xx[303] - xx[13] * xx[306]; |
| 16886 | xx[12] = - (xx[313] * xx[5] + xx[387] * xx[383]); |
| 16887 | xx[13] = xx[383] * xx[5] - xx[387] * xx[313]; |
| 16888 | xx[303] = xx[262] * xx[383] + xx[313] * xx[311]; |
| 16889 | xx[424] = xx[363] - xx[1]; |
| 16890 | xx[425] = xx[12]; |
| 16891 | xx[426] = xx[13]; |
| 16892 | xx[427] = xx[303]; |
| 16893 | xx[306] = xx[21] * xx[852] - xx[25] * xx[849]; |
| 16894 | xx[391] = xx[21] * xx[851] + xx[25] * xx[850]; |
| 16895 | xx[392] = - xx[391]; |
| 16896 | xx[393] = xx[25] * xx[851] - xx[21] * xx[850]; |
| 16897 | xx[397] = - xx[393]; |
| 16898 | xx[398] = xx[21] * xx[849] + xx[25] * xx[852]; |
| 16899 | xx[400] = - xx[398]; |
| 16900 | xx[428] = xx[306]; |
| 16901 | xx[429] = xx[392]; |
| 16902 | xx[430] = xx[397]; |
| 16903 | xx[431] = xx[400]; |
| 16904 | pm_math_quatCompose(xx + 424, xx + 428, xx + 432); |
| 16905 | xx[424] = (xx[393] * xx[306] + xx[391] * xx[398]) * xx[80]; |
| 16906 | xx[425] = xx[80] * (xx[393] * xx[398] - xx[306] * xx[391]); |
| 16907 | xx[426] = xx[22] - (xx[391] * xx[391] + xx[393] * xx[393]) * xx[80]; |
| 16908 | pm_math_cross3(xx + 424, xx + 267, xx + 436); |
| 16909 | pm_math_quatXform(xx + 432, xx + 436, xx + 424); |
| 16910 | pm_math_quatXform(xx + 428, xx + 126, xx + 432); |
| 16911 | xx[408] = xx[433] * xx[383] - xx[313] * xx[432]; |
| 16912 | xx[412] = xx[409] * xx[313] + xx[410] * xx[383]; |
| 16913 | xx[413] = xx[80] * xx[412] * xx[383]; |
| 16914 | xx[427] = xx[80] * xx[383] * xx[408] - (xx[433] + xx[413]) + xx[410]; |
| 16915 | xx[434] = xx[262]; |
| 16916 | xx[435] = xx[311]; |
| 16917 | xx[436] = xx[387]; |
| 16918 | xx[437] = xx[80] * xx[412] * xx[313]; |
| 16919 | xx[412] = xx[432] + xx[80] * xx[313] * xx[408] - xx[437] + xx[409]; |
| 16920 | xx[408] = xx[387] * xx[412]; |
| 16921 | xx[438] = xx[387] * xx[427]; |
| 16922 | xx[439] = xx[262] * xx[412] - xx[427] * xx[311]; |
| 16923 | xx[440] = - xx[408]; |
| 16924 | xx[441] = xx[438]; |
| 16925 | xx[442] = xx[439]; |
| 16926 | pm_math_cross3(xx + 434, xx + 440, xx + 447); |
| 16927 | xx[440] = - (xx[1] - xx[363]); |
| 16928 | xx[441] = xx[12]; |
| 16929 | xx[442] = xx[13]; |
| 16930 | xx[443] = xx[303]; |
| 16931 | pm_math_quatCompose(xx + 440, xx + 428, xx + 450); |
| 16932 | pm_math_quatXform(xx + 450, xx + 280, xx + 434); |
| 16933 | pm_math_quatXform(xx + 428, xx + 167, xx + 459); |
| 16934 | pm_math_quatXform(xx + 440, xx + 459, xx + 464); |
| 16935 | pm_math_quatXform(xx + 450, xx + 297, xx + 459); |
| 16936 | pm_math_quatXform(xx + 428, xx + 176, xx + 467); |
| 16937 | pm_math_quatXform(xx + 440, xx + 467, xx + 470); |
| 16938 | xx[1] = xx[102] * xx[453]; |
| 16939 | xx[12] = xx[102] * xx[451] + xx[123] * xx[452]; |
| 16940 | xx[467] = - xx[1]; |
| 16941 | xx[468] = - (xx[123] * xx[453]); |
| 16942 | xx[469] = xx[12]; |
| 16943 | pm_math_cross3(xx + 451, xx + 467, xx + 474); |
| 16944 | xx[467] = xx[392]; |
| 16945 | xx[468] = xx[397]; |
| 16946 | xx[469] = xx[400]; |
| 16947 | xx[13] = xx[117] * xx[398]; |
| 16948 | xx[303] = xx[119] * xx[398]; |
| 16949 | xx[363] = xx[117] * xx[391] + xx[393] * xx[119]; |
| 16950 | xx[477] = xx[13]; |
| 16951 | xx[478] = xx[303]; |
| 16952 | xx[479] = - xx[363]; |
| 16953 | pm_math_cross3(xx + 467, xx + 477, xx + 480); |
| 16954 | xx[467] = xx[80] * (xx[480] + xx[13] * xx[306]) - xx[119]; |
| 16955 | xx[468] = xx[117] + (xx[303] * xx[306] + xx[481]) * xx[80]; |
| 16956 | xx[469] = (xx[482] - xx[363] * xx[306]) * xx[80]; |
| 16957 | pm_math_quatXform(xx + 440, xx + 467, xx + 477); |
| 16958 | xx[13] = xx[2] * xx[839]; |
| 16959 | xx[303] = cos(xx[13]); |
| 16960 | xx[363] = xx[312] * xx[303]; |
| 16961 | xx[392] = sin(xx[13]); |
| 16962 | xx[13] = xx[312] * xx[392]; |
| 16963 | xx[397] = xx[363] + xx[13]; |
| 16964 | xx[400] = xx[379] * xx[392]; |
| 16965 | xx[392] = xx[379] * xx[303]; |
| 16966 | xx[303] = xx[400] - xx[392]; |
| 16967 | xx[440] = xx[392] + xx[400]; |
| 16968 | xx[392] = - xx[440]; |
| 16969 | xx[400] = xx[13] - xx[363]; |
| 16970 | xx[441] = - xx[397]; |
| 16971 | xx[442] = xx[303]; |
| 16972 | xx[443] = xx[392]; |
| 16973 | xx[444] = xx[400]; |
| 16974 | pm_math_quatCompose(xx + 140, xx + 441, xx + 480); |
| 16975 | pm_math_quatCompose(xx + 68, xx + 480, xx + 484); |
| 16976 | pm_math_quatCompose(xx + 42, xx + 484, xx + 488); |
| 16977 | pm_math_quatCompose(xx + 31, xx + 488, xx + 492); |
| 16978 | xx[467] = xx[80] * (xx[489] * xx[491] - xx[488] * xx[490]); |
| 16979 | xx[468] = (xx[488] * xx[489] + xx[490] * xx[491]) * xx[80]; |
| 16980 | xx[469] = xx[22] - (xx[489] * xx[489] + xx[490] * xx[490]) * xx[80]; |
| 16981 | pm_math_cross3(xx + 467, xx + 84, xx + 496); |
| 16982 | pm_math_quatXform(xx + 492, xx + 496, xx + 467); |
| 16983 | pm_math_quatXform(xx + 441, xx + 456, xx + 492); |
| 16984 | xx[13] = xx[314] + xx[492]; |
| 16985 | xx[314] = xx[462] - xx[494]; |
| 16986 | xx[454] = - xx[13]; |
| 16987 | xx[455] = - xx[493]; |
| 16988 | xx[456] = xx[314]; |
| 16989 | pm_math_quatXform(xx + 140, xx + 454, xx + 494); |
| 16990 | xx[363] = xx[494] - xx[104]; |
| 16991 | xx[451] = xx[495] + xx[96]; |
| 16992 | xx[452] = xx[496] - xx[107]; |
| 16993 | xx[454] = xx[363]; |
| 16994 | xx[455] = xx[451]; |
| 16995 | xx[456] = xx[452]; |
| 16996 | pm_math_quatXform(xx + 68, xx + 454, xx + 494); |
| 16997 | xx[457] = xx[494] + xx[105]; |
| 16998 | xx[458] = xx[495] + xx[118]; |
| 16999 | xx[462] = xx[496] + xx[121]; |
| 17000 | xx[494] = xx[457]; |
| 17001 | xx[495] = xx[458]; |
| 17002 | xx[496] = xx[462]; |
| 17003 | pm_math_quatXform(xx + 42, xx + 494, xx + 497); |
| 17004 | xx[492] = xx[498] + xx[148]; |
| 17005 | xx[498] = xx[497] + xx[147]; |
| 17006 | xx[497] = xx[492] * xx[19] - xx[498] * xx[15]; |
| 17007 | xx[499] = xx[80] * xx[19] * xx[497] - (xx[492] - xx[145]) - xx[135]; |
| 17008 | xx[500] = xx[498] + xx[80] * xx[15] * xx[497] + xx[152] - xx[131]; |
| 17009 | xx[497] = xx[26] * xx[500]; |
| 17010 | xx[501] = xx[26] * xx[499]; |
| 17011 | xx[502] = xx[6] * xx[500] - xx[499] * xx[14]; |
| 17012 | xx[503] = - xx[497]; |
| 17013 | xx[504] = xx[501]; |
| 17014 | xx[505] = xx[502]; |
| 17015 | pm_math_cross3(xx + 149, xx + 503, xx + 507); |
| 17016 | pm_math_quatCompose(xx + 170, xx + 484, xx + 510); |
| 17017 | xx[503] = xx[4] * xx[487]; |
| 17018 | xx[504] = xx[4] * xx[485] + xx[486]; |
| 17019 | xx[514] = xx[503]; |
| 17020 | xx[515] = xx[487]; |
| 17021 | xx[516] = - xx[504]; |
| 17022 | pm_math_cross3(xx + 485, xx + 514, xx + 517); |
| 17023 | xx[505] = xx[484] * xx[487]; |
| 17024 | xx[514] = xx[22] + (xx[517] - xx[484] * xx[503]) * xx[80]; |
| 17025 | xx[515] = xx[80] * (xx[518] - xx[505]) - xx[4]; |
| 17026 | xx[516] = xx[80] * (xx[519] + xx[484] * xx[504]); |
| 17027 | pm_math_cross3(xx + 514, xx + 84, xx + 517); |
| 17028 | pm_math_quatXform(xx + 510, xx + 517, xx + 514); |
| 17029 | xx[504] = - (xx[462] * xx[4]); |
| 17030 | xx[517] = xx[504]; |
| 17031 | xx[518] = - xx[462]; |
| 17032 | xx[519] = xx[458] + xx[457] * xx[4]; |
| 17033 | pm_math_quatXform(xx + 42, xx + 517, xx + 520); |
| 17034 | xx[517] = xx[520] + xx[183]; |
| 17035 | xx[518] = xx[521] + xx[184]; |
| 17036 | xx[519] = xx[522] + xx[185]; |
| 17037 | pm_math_quatXform(xx + 161, xx + 517, xx + 520); |
| 17038 | xx[517] = xx[485] - xx[4] * xx[486]; |
| 17039 | xx[523] = - xx[487]; |
| 17040 | xx[524] = xx[503]; |
| 17041 | xx[525] = xx[517]; |
| 17042 | pm_math_cross3(xx + 485, xx + 523, xx + 526); |
| 17043 | xx[523] = xx[4] + (xx[505] + xx[526]) * xx[80]; |
| 17044 | xx[524] = xx[22] + xx[80] * (xx[527] - xx[4] * xx[505]); |
| 17045 | xx[525] = xx[80] * (xx[528] - xx[484] * xx[517]); |
| 17046 | pm_math_cross3(xx + 523, xx + 84, xx + 517); |
| 17047 | pm_math_quatXform(xx + 510, xx + 517, xx + 523); |
| 17048 | xx[517] = xx[462]; |
| 17049 | xx[518] = xx[504]; |
| 17050 | xx[519] = xx[458] * xx[4] - xx[457]; |
| 17051 | pm_math_quatXform(xx + 42, xx + 517, xx + 503); |
| 17052 | xx[517] = xx[503] + xx[197]; |
| 17053 | xx[518] = xx[504] + xx[198]; |
| 17054 | xx[519] = xx[505] + xx[199]; |
| 17055 | pm_math_quatXform(xx + 161, xx + 517, xx + 503); |
| 17056 | xx[517] = xx[80] * (xx[485] * xx[487] - xx[484] * xx[486]); |
| 17057 | xx[518] = (xx[484] * xx[485] + xx[486] * xx[487]) * xx[80]; |
| 17058 | xx[519] = xx[22] - (xx[485] * xx[485] + xx[486] * xx[486]) * xx[80]; |
| 17059 | pm_math_cross3(xx + 517, xx + 84, xx + 526); |
| 17060 | pm_math_quatXform(xx + 510, xx + 526, xx + 517); |
| 17061 | xx[462] = xx[457] * xx[38]; |
| 17062 | xx[510] = xx[458] * xx[38]; |
| 17063 | xx[511] = xx[457] * xx[29] + xx[36] * xx[458]; |
| 17064 | xx[526] = xx[462]; |
| 17065 | xx[527] = xx[510]; |
| 17066 | xx[528] = - xx[511]; |
| 17067 | pm_math_cross3(xx + 179, xx + 526, xx + 529); |
| 17068 | xx[526] = xx[80] * (xx[529] + xx[462] * xx[28]) + xx[37] - xx[458] - xx[119]; |
| 17069 | xx[527] = xx[457] + xx[80] * (xx[530] + xx[510] * xx[28]) + xx[23] + xx[117]; |
| 17070 | xx[528] = (xx[531] - xx[28] * xx[511]) * xx[80] + xx[27]; |
| 17071 | pm_math_quatXform(xx + 161, xx + 526, xx + 510); |
| 17072 | pm_math_quatCompose(xx + 212, xx + 480, xx + 526); |
| 17073 | xx[457] = xx[482] * xx[482]; |
| 17074 | xx[458] = xx[483] * xx[483]; |
| 17075 | xx[462] = xx[481] * xx[482]; |
| 17076 | xx[513] = xx[480] * xx[483]; |
| 17077 | xx[530] = xx[480] * xx[482]; |
| 17078 | xx[531] = xx[481] * xx[483]; |
| 17079 | xx[536] = xx[22] - (xx[457] + xx[458]) * xx[80]; |
| 17080 | xx[537] = xx[80] * (xx[462] - xx[513]); |
| 17081 | xx[538] = (xx[530] + xx[531]) * xx[80]; |
| 17082 | pm_math_cross3(xx + 536, xx + 84, xx + 539); |
| 17083 | pm_math_quatXform(xx + 526, xx + 539, xx + 536); |
| 17084 | xx[533] = xx[48] * xx[451]; |
| 17085 | xx[534] = xx[50] * xx[452]; |
| 17086 | xx[539] = xx[533] + xx[534]; |
| 17087 | xx[540] = xx[451] * xx[47]; |
| 17088 | xx[541] = xx[452] * xx[47]; |
| 17089 | xx[542] = - xx[539]; |
| 17090 | xx[543] = - xx[540]; |
| 17091 | xx[544] = - xx[541]; |
| 17092 | pm_math_cross3(xx + 220, xx + 542, xx + 549); |
| 17093 | xx[542] = xx[80] * (xx[549] - xx[539] * xx[46]) + xx[195]; |
| 17094 | xx[543] = xx[80] * (xx[550] - xx[540] * xx[46]) + xx[182] - xx[452] - xx[74]; |
| 17095 | xx[544] = xx[451] + xx[80] * (xx[551] - xx[541] * xx[46]) + xx[192] - xx[73]; |
| 17096 | pm_math_quatXform(xx + 170, xx + 542, xx + 539); |
| 17097 | xx[542] = xx[481] * xx[481]; |
| 17098 | xx[543] = xx[482] * xx[483]; |
| 17099 | xx[544] = xx[480] * xx[481]; |
| 17100 | xx[549] = (xx[513] + xx[462]) * xx[80]; |
| 17101 | xx[550] = xx[22] - (xx[458] + xx[542]) * xx[80]; |
| 17102 | xx[551] = xx[80] * (xx[543] - xx[544]); |
| 17103 | pm_math_cross3(xx + 549, xx + 84, xx + 552); |
| 17104 | pm_math_quatXform(xx + 526, xx + 552, xx + 549); |
| 17105 | xx[458] = xx[48] * xx[363]; |
| 17106 | xx[462] = xx[363] * xx[47]; |
| 17107 | xx[513] = xx[462] - xx[534]; |
| 17108 | xx[534] = xx[48] * xx[452]; |
| 17109 | xx[552] = xx[458]; |
| 17110 | xx[553] = xx[513]; |
| 17111 | xx[554] = xx[534]; |
| 17112 | pm_math_cross3(xx + 220, xx + 552, xx + 555); |
| 17113 | xx[552] = xx[452] + (xx[458] * xx[46] + xx[555]) * xx[80] + xx[175] + xx[74]; |
| 17114 | xx[553] = (xx[46] * xx[513] + xx[556]) * xx[80] + xx[53]; |
| 17115 | xx[554] = (xx[534] * xx[46] + xx[557]) * xx[80] + xx[64] - xx[363] - xx[72]; |
| 17116 | pm_math_quatXform(xx + 170, xx + 552, xx + 555); |
| 17117 | xx[552] = xx[80] * (xx[531] - xx[530]); |
| 17118 | xx[553] = (xx[544] + xx[543]) * xx[80]; |
| 17119 | xx[554] = xx[22] - (xx[542] + xx[457]) * xx[80]; |
| 17120 | pm_math_cross3(xx + 552, xx + 84, xx + 542); |
| 17121 | pm_math_quatXform(xx + 526, xx + 542, xx + 552); |
| 17122 | xx[452] = xx[50] * xx[363]; |
| 17123 | xx[457] = xx[50] * xx[451]; |
| 17124 | xx[458] = xx[462] - xx[533]; |
| 17125 | xx[526] = xx[452]; |
| 17126 | xx[527] = xx[457]; |
| 17127 | xx[528] = xx[458]; |
| 17128 | pm_math_cross3(xx + 220, xx + 526, xx + 529); |
| 17129 | xx[526] = (xx[452] * xx[46] + xx[529]) * xx[80] + xx[41] - xx[451] + xx[73]; |
| 17130 | xx[527] = xx[363] + (xx[457] * xx[46] + xx[530]) * xx[80] + xx[17] + xx[72]; |
| 17131 | xx[528] = (xx[46] * xx[458] + xx[531]) * xx[80] + xx[35]; |
| 17132 | pm_math_quatXform(xx + 170, xx + 526, xx + 529); |
| 17133 | pm_math_quatCompose(xx + 216, xx + 441, xx + 542); |
| 17134 | xx[441] = xx[303]; |
| 17135 | xx[442] = xx[392]; |
| 17136 | xx[443] = xx[400]; |
| 17137 | xx[363] = xx[440] * xx[63]; |
| 17138 | xx[392] = xx[63] * xx[303] - xx[57] * xx[400]; |
| 17139 | xx[444] = xx[440] * xx[57]; |
| 17140 | xx[526] = xx[363]; |
| 17141 | xx[527] = xx[392]; |
| 17142 | xx[528] = - xx[444]; |
| 17143 | pm_math_cross3(xx + 441, xx + 526, xx + 558); |
| 17144 | xx[526] = xx[80] * (xx[558] + xx[397] * xx[363]) - xx[57]; |
| 17145 | xx[527] = xx[80] * (xx[559] + xx[397] * xx[392]); |
| 17146 | xx[528] = (xx[560] - xx[397] * xx[444]) * xx[80] - xx[63]; |
| 17147 | pm_math_cross3(xx + 526, xx + 84, xx + 558); |
| 17148 | pm_math_quatXform(xx + 542, xx + 558, xx + 526); |
| 17149 | xx[558] = - (xx[63] * xx[493]); |
| 17150 | xx[559] = xx[63] * xx[13] + xx[57] * xx[314]; |
| 17151 | xx[560] = xx[57] * xx[493]; |
| 17152 | pm_math_quatXform(xx + 140, xx + 558, xx + 561); |
| 17153 | xx[558] = xx[561] + xx[60]; |
| 17154 | xx[559] = xx[562] + xx[61] - xx[67]; |
| 17155 | xx[560] = xx[563] - xx[40]; |
| 17156 | pm_math_quatXform(xx + 212, xx + 558, xx + 561); |
| 17157 | xx[363] = xx[72] * xx[545]; |
| 17158 | xx[392] = xx[72] * xx[543] - xx[73] * xx[544]; |
| 17159 | xx[558] = - xx[363]; |
| 17160 | xx[559] = xx[73] * xx[545]; |
| 17161 | xx[560] = xx[392]; |
| 17162 | pm_math_cross3(xx + 543, xx + 558, xx + 564); |
| 17163 | xx[444] = xx[327] * xx[400]; |
| 17164 | xx[451] = xx[401] * xx[400]; |
| 17165 | xx[452] = xx[327] * xx[303] + xx[440] * xx[401]; |
| 17166 | xx[558] = - xx[444]; |
| 17167 | xx[559] = xx[451]; |
| 17168 | xx[560] = xx[452]; |
| 17169 | pm_math_cross3(xx + 441, xx + 558, xx + 567); |
| 17170 | xx[457] = xx[401] + xx[80] * (xx[567] + xx[397] * xx[444]); |
| 17171 | xx[401] = xx[327] + (xx[568] - xx[397] * xx[451]) * xx[80]; |
| 17172 | xx[327] = xx[569] - xx[397] * xx[452]; |
| 17173 | xx[444] = xx[327] * xx[80]; |
| 17174 | xx[558] = xx[457]; |
| 17175 | xx[559] = xx[401]; |
| 17176 | xx[560] = xx[444]; |
| 17177 | pm_math_quatXform(xx + 216, xx + 558, xx + 567); |
| 17178 | xx[451] = xx[2] * xx[869]; |
| 17179 | xx[452] = cos(xx[451]); |
| 17180 | xx[458] = xx[2] * xx[867]; |
| 17181 | xx[462] = cos(xx[458]); |
| 17182 | xx[513] = sin(xx[458]); |
| 17183 | xx[458] = xx[399] * xx[462] + xx[445] * xx[513]; |
| 17184 | xx[533] = xx[452] * xx[458]; |
| 17185 | xx[534] = xx[399] * xx[513] - xx[445] * xx[462]; |
| 17186 | xx[399] = sin(xx[451]); |
| 17187 | xx[445] = xx[534] * xx[399]; |
| 17188 | xx[451] = xx[463] * xx[462] - xx[473] * xx[513]; |
| 17189 | xx[543] = xx[473] * xx[462] + xx[463] * xx[513]; |
| 17190 | xx[462] = - (xx[451] * xx[452] - xx[399] * xx[543]); |
| 17191 | xx[463] = xx[451] * xx[399] + xx[452] * xx[543]; |
| 17192 | xx[473] = xx[399] * xx[458] + xx[534] * xx[452]; |
| 17193 | xx[570] = xx[533] - xx[445]; |
| 17194 | xx[571] = xx[462]; |
| 17195 | xx[572] = xx[463]; |
| 17196 | xx[573] = xx[473]; |
| 17197 | xx[513] = xx[21] * xx[874] - xx[25] * xx[871]; |
| 17198 | xx[544] = xx[21] * xx[873] + xx[25] * xx[872]; |
| 17199 | xx[546] = - xx[544]; |
| 17200 | xx[558] = xx[25] * xx[873] - xx[21] * xx[872]; |
| 17201 | xx[559] = - xx[558]; |
| 17202 | xx[560] = xx[21] * xx[871] + xx[25] * xx[874]; |
| 17203 | xx[574] = - xx[560]; |
| 17204 | xx[575] = xx[513]; |
| 17205 | xx[576] = xx[546]; |
| 17206 | xx[577] = xx[559]; |
| 17207 | xx[578] = xx[574]; |
| 17208 | pm_math_quatCompose(xx + 570, xx + 575, xx + 579); |
| 17209 | xx[570] = (xx[558] * xx[513] + xx[560] * xx[544]) * xx[80]; |
| 17210 | xx[571] = xx[80] * (xx[558] * xx[560] - xx[513] * xx[544]); |
| 17211 | xx[572] = xx[22] - (xx[544] * xx[544] + xx[558] * xx[558]) * xx[80]; |
| 17212 | pm_math_cross3(xx + 570, xx + 267, xx + 585); |
| 17213 | pm_math_quatXform(xx + 579, xx + 585, xx + 570); |
| 17214 | pm_math_quatXform(xx + 575, xx + 126, xx + 579); |
| 17215 | xx[573] = xx[580] * xx[399] - xx[452] * xx[579]; |
| 17216 | xx[581] = xx[547] * xx[452] + xx[548] * xx[399]; |
| 17217 | xx[582] = xx[80] * xx[581] * xx[399]; |
| 17218 | xx[583] = xx[80] * xx[399] * xx[573] - (xx[580] - xx[582]) - xx[548]; |
| 17219 | xx[585] = - xx[543]; |
| 17220 | xx[586] = xx[458]; |
| 17221 | xx[587] = xx[534]; |
| 17222 | xx[588] = xx[585]; |
| 17223 | xx[589] = xx[80] * xx[581] * xx[452]; |
| 17224 | xx[581] = xx[579] + xx[80] * xx[452] * xx[573] + xx[589] - xx[547]; |
| 17225 | xx[573] = xx[581] * xx[543]; |
| 17226 | xx[590] = xx[583] * xx[543]; |
| 17227 | xx[591] = xx[581] * xx[458] - xx[534] * xx[583]; |
| 17228 | xx[592] = xx[573]; |
| 17229 | xx[593] = - xx[590]; |
| 17230 | xx[594] = xx[591]; |
| 17231 | pm_math_cross3(xx + 586, xx + 592, xx + 598); |
| 17232 | xx[602] = - (xx[445] - xx[533]); |
| 17233 | xx[603] = xx[462]; |
| 17234 | xx[604] = xx[463]; |
| 17235 | xx[605] = xx[473]; |
| 17236 | pm_math_quatCompose(xx + 602, xx + 575, xx + 610); |
| 17237 | pm_math_quatXform(xx + 610, xx + 280, xx + 586); |
| 17238 | pm_math_quatXform(xx + 575, xx + 167, xx + 592); |
| 17239 | pm_math_quatXform(xx + 602, xx + 592, xx + 606); |
| 17240 | pm_math_quatXform(xx + 610, xx + 297, xx + 592); |
| 17241 | pm_math_quatXform(xx + 575, xx + 176, xx + 614); |
| 17242 | pm_math_quatXform(xx + 602, xx + 614, xx + 617); |
| 17243 | xx[445] = xx[102] * xx[613]; |
| 17244 | xx[462] = xx[102] * xx[611] + xx[123] * xx[612]; |
| 17245 | xx[614] = - xx[445]; |
| 17246 | xx[615] = - (xx[123] * xx[613]); |
| 17247 | xx[616] = xx[462]; |
| 17248 | pm_math_cross3(xx + 611, xx + 614, xx + 620); |
| 17249 | xx[614] = xx[546]; |
| 17250 | xx[615] = xx[559]; |
| 17251 | xx[616] = xx[574]; |
| 17252 | xx[463] = xx[117] * xx[560]; |
| 17253 | xx[473] = xx[119] * xx[560]; |
| 17254 | xx[533] = xx[117] * xx[544] + xx[558] * xx[119]; |
| 17255 | xx[623] = xx[463]; |
| 17256 | xx[624] = xx[473]; |
| 17257 | xx[625] = - xx[533]; |
| 17258 | pm_math_cross3(xx + 614, xx + 623, xx + 626); |
| 17259 | xx[614] = xx[80] * (xx[626] + xx[463] * xx[513]) - xx[119]; |
| 17260 | xx[615] = xx[117] + (xx[473] * xx[513] + xx[627]) * xx[80]; |
| 17261 | xx[616] = (xx[628] - xx[533] * xx[513]) * xx[80]; |
| 17262 | pm_math_quatXform(xx + 602, xx + 614, xx + 623); |
| 17263 | xx[463] = xx[2] * xx[841]; |
| 17264 | xx[473] = cos(xx[463]); |
| 17265 | xx[533] = xx[312] * xx[473]; |
| 17266 | xx[546] = sin(xx[463]); |
| 17267 | xx[463] = xx[312] * xx[546]; |
| 17268 | xx[312] = xx[533] + xx[463]; |
| 17269 | xx[559] = xx[379] * xx[473]; |
| 17270 | xx[473] = xx[379] * xx[546]; |
| 17271 | xx[379] = xx[559] - xx[473]; |
| 17272 | xx[546] = xx[559] + xx[473]; |
| 17273 | xx[473] = xx[533] - xx[463]; |
| 17274 | xx[602] = xx[312]; |
| 17275 | xx[603] = xx[379]; |
| 17276 | xx[604] = xx[546]; |
| 17277 | xx[605] = xx[473]; |
| 17278 | pm_math_quatCompose(xx + 140, xx + 602, xx + 626); |
| 17279 | pm_math_quatCompose(xx + 68, xx + 626, xx + 630); |
| 17280 | pm_math_quatCompose(xx + 42, xx + 630, xx + 638); |
| 17281 | pm_math_quatCompose(xx + 31, xx + 638, xx + 644); |
| 17282 | xx[614] = xx[80] * (xx[639] * xx[641] - xx[638] * xx[640]); |
| 17283 | xx[615] = (xx[638] * xx[639] + xx[640] * xx[641]) * xx[80]; |
| 17284 | xx[616] = xx[22] - (xx[639] * xx[639] + xx[640] * xx[640]) * xx[80]; |
| 17285 | pm_math_cross3(xx + 614, xx + 84, xx + 634); |
| 17286 | pm_math_quatXform(xx + 644, xx + 634, xx + 614); |
| 17287 | pm_math_quatXform(xx + 602, xx + 595, xx + 634); |
| 17288 | xx[463] = xx[446] + xx[634]; |
| 17289 | xx[446] = xx[601] - xx[636]; |
| 17290 | xx[595] = - xx[463]; |
| 17291 | xx[596] = - xx[635]; |
| 17292 | xx[597] = xx[446]; |
| 17293 | pm_math_quatXform(xx + 140, xx + 595, xx + 644); |
| 17294 | xx[533] = xx[644] - xx[104]; |
| 17295 | xx[559] = xx[645] + xx[96]; |
| 17296 | xx[574] = xx[646] - xx[107]; |
| 17297 | xx[595] = xx[533]; |
| 17298 | xx[596] = xx[559]; |
| 17299 | xx[597] = xx[574]; |
| 17300 | pm_math_quatXform(xx + 68, xx + 595, xx + 644); |
| 17301 | xx[601] = xx[644] + xx[105]; |
| 17302 | xx[611] = xx[645] + xx[118]; |
| 17303 | xx[612] = xx[646] + xx[121]; |
| 17304 | xx[644] = xx[601]; |
| 17305 | xx[645] = xx[611]; |
| 17306 | xx[646] = xx[612]; |
| 17307 | pm_math_quatXform(xx + 42, xx + 644, xx + 647); |
| 17308 | xx[634] = xx[648] + xx[148]; |
| 17309 | xx[636] = xx[647] + xx[147]; |
| 17310 | xx[642] = xx[634] * xx[19] - xx[636] * xx[15]; |
| 17311 | xx[647] = xx[80] * xx[19] * xx[642] - (xx[634] - xx[145]) - xx[135]; |
| 17312 | xx[648] = xx[636] + xx[80] * xx[15] * xx[642] + xx[152] - xx[131]; |
| 17313 | xx[642] = xx[26] * xx[648]; |
| 17314 | xx[649] = xx[26] * xx[647]; |
| 17315 | xx[650] = xx[6] * xx[648] - xx[647] * xx[14]; |
| 17316 | xx[651] = - xx[642]; |
| 17317 | xx[652] = xx[649]; |
| 17318 | xx[653] = xx[650]; |
| 17319 | pm_math_cross3(xx + 149, xx + 651, xx + 654); |
| 17320 | pm_math_quatCompose(xx + 170, xx + 630, xx + 657); |
| 17321 | xx[651] = xx[4] * xx[633]; |
| 17322 | xx[652] = xx[4] * xx[631] + xx[632]; |
| 17323 | xx[661] = xx[651]; |
| 17324 | xx[662] = xx[633]; |
| 17325 | xx[663] = - xx[652]; |
| 17326 | pm_math_cross3(xx + 631, xx + 661, xx + 664); |
| 17327 | xx[653] = xx[630] * xx[633]; |
| 17328 | xx[661] = xx[22] + (xx[664] - xx[630] * xx[651]) * xx[80]; |
| 17329 | xx[662] = xx[80] * (xx[665] - xx[653]) - xx[4]; |
| 17330 | xx[663] = xx[80] * (xx[666] + xx[630] * xx[652]); |
| 17331 | pm_math_cross3(xx + 661, xx + 84, xx + 664); |
| 17332 | pm_math_quatXform(xx + 657, xx + 664, xx + 661); |
| 17333 | xx[652] = - (xx[612] * xx[4]); |
| 17334 | xx[664] = xx[652]; |
| 17335 | xx[665] = - xx[612]; |
| 17336 | xx[666] = xx[611] + xx[601] * xx[4]; |
| 17337 | pm_math_quatXform(xx + 42, xx + 664, xx + 667); |
| 17338 | xx[664] = xx[667] + xx[183]; |
| 17339 | xx[665] = xx[668] + xx[184]; |
| 17340 | xx[666] = xx[669] + xx[185]; |
| 17341 | pm_math_quatXform(xx + 161, xx + 664, xx + 667); |
| 17342 | xx[664] = xx[631] - xx[4] * xx[632]; |
| 17343 | xx[673] = - xx[633]; |
| 17344 | xx[674] = xx[651]; |
| 17345 | xx[675] = xx[664]; |
| 17346 | pm_math_cross3(xx + 631, xx + 673, xx + 676); |
| 17347 | xx[673] = xx[4] + (xx[653] + xx[676]) * xx[80]; |
| 17348 | xx[674] = xx[22] + xx[80] * (xx[677] - xx[4] * xx[653]); |
| 17349 | xx[675] = xx[80] * (xx[678] - xx[630] * xx[664]); |
| 17350 | pm_math_cross3(xx + 673, xx + 84, xx + 664); |
| 17351 | pm_math_quatXform(xx + 657, xx + 664, xx + 673); |
| 17352 | xx[664] = xx[612]; |
| 17353 | xx[665] = xx[652]; |
| 17354 | xx[666] = xx[611] * xx[4] - xx[601]; |
| 17355 | pm_math_quatXform(xx + 42, xx + 664, xx + 651); |
| 17356 | xx[664] = xx[651] + xx[197]; |
| 17357 | xx[665] = xx[652] + xx[198]; |
| 17358 | xx[666] = xx[653] + xx[199]; |
| 17359 | pm_math_quatXform(xx + 161, xx + 664, xx + 651); |
| 17360 | xx[664] = xx[80] * (xx[631] * xx[633] - xx[630] * xx[632]); |
| 17361 | xx[665] = (xx[630] * xx[631] + xx[632] * xx[633]) * xx[80]; |
| 17362 | xx[666] = xx[22] - (xx[631] * xx[631] + xx[632] * xx[632]) * xx[80]; |
| 17363 | pm_math_cross3(xx + 664, xx + 84, xx + 676); |
| 17364 | pm_math_quatXform(xx + 657, xx + 676, xx + 664); |
| 17365 | xx[612] = xx[601] * xx[38]; |
| 17366 | xx[657] = xx[611] * xx[38]; |
| 17367 | xx[658] = xx[601] * xx[29] + xx[36] * xx[611]; |
| 17368 | xx[676] = xx[612]; |
| 17369 | xx[677] = xx[657]; |
| 17370 | xx[678] = - xx[658]; |
| 17371 | pm_math_cross3(xx + 179, xx + 676, xx + 681); |
| 17372 | xx[676] = xx[80] * (xx[681] + xx[612] * xx[28]) + xx[37] - xx[611] - xx[119]; |
| 17373 | xx[677] = xx[601] + xx[80] * (xx[682] + xx[657] * xx[28]) + xx[23] + xx[117]; |
| 17374 | xx[678] = (xx[683] - xx[28] * xx[658]) * xx[80] + xx[27]; |
| 17375 | pm_math_quatXform(xx + 161, xx + 676, xx + 657); |
| 17376 | pm_math_quatCompose(xx + 212, xx + 626, xx + 676); |
| 17377 | xx[601] = xx[628] * xx[628]; |
| 17378 | xx[611] = xx[629] * xx[629]; |
| 17379 | xx[612] = xx[627] * xx[628]; |
| 17380 | xx[660] = xx[626] * xx[629]; |
| 17381 | xx[670] = xx[626] * xx[628]; |
| 17382 | xx[671] = xx[627] * xx[629]; |
| 17383 | xx[681] = xx[22] - (xx[601] + xx[611]) * xx[80]; |
| 17384 | xx[682] = xx[80] * (xx[612] - xx[660]); |
| 17385 | xx[683] = (xx[670] + xx[671]) * xx[80]; |
| 17386 | pm_math_cross3(xx + 681, xx + 84, xx + 686); |
| 17387 | pm_math_quatXform(xx + 676, xx + 686, xx + 681); |
| 17388 | xx[686] = xx[48] * xx[559]; |
| 17389 | xx[687] = xx[50] * xx[574]; |
| 17390 | xx[688] = xx[686] + xx[687]; |
| 17391 | xx[689] = xx[559] * xx[47]; |
| 17392 | xx[690] = xx[574] * xx[47]; |
| 17393 | xx[691] = - xx[688]; |
| 17394 | xx[692] = - xx[689]; |
| 17395 | xx[693] = - xx[690]; |
| 17396 | pm_math_cross3(xx + 220, xx + 691, xx + 694); |
| 17397 | xx[691] = xx[80] * (xx[694] - xx[688] * xx[46]) + xx[195]; |
| 17398 | xx[692] = xx[80] * (xx[695] - xx[689] * xx[46]) + xx[182] - xx[574] - xx[74]; |
| 17399 | xx[693] = xx[559] + xx[80] * (xx[696] - xx[690] * xx[46]) + xx[192] - xx[73]; |
| 17400 | pm_math_quatXform(xx + 170, xx + 691, xx + 688); |
| 17401 | xx[691] = xx[627] * xx[627]; |
| 17402 | xx[692] = xx[628] * xx[629]; |
| 17403 | xx[693] = xx[626] * xx[627]; |
| 17404 | xx[694] = (xx[660] + xx[612]) * xx[80]; |
| 17405 | xx[695] = xx[22] - (xx[611] + xx[691]) * xx[80]; |
| 17406 | xx[696] = xx[80] * (xx[692] - xx[693]); |
| 17407 | pm_math_cross3(xx + 694, xx + 84, xx + 697); |
| 17408 | pm_math_quatXform(xx + 676, xx + 697, xx + 694); |
| 17409 | xx[611] = xx[48] * xx[533]; |
| 17410 | xx[612] = xx[533] * xx[47]; |
| 17411 | xx[660] = xx[612] - xx[687]; |
| 17412 | xx[687] = xx[48] * xx[574]; |
| 17413 | xx[697] = xx[611]; |
| 17414 | xx[698] = xx[660]; |
| 17415 | xx[699] = xx[687]; |
| 17416 | pm_math_cross3(xx + 220, xx + 697, xx + 700); |
| 17417 | xx[697] = xx[574] + (xx[611] * xx[46] + xx[700]) * xx[80] + xx[175] + xx[74]; |
| 17418 | xx[698] = (xx[46] * xx[660] + xx[701]) * xx[80] + xx[53]; |
| 17419 | xx[699] = (xx[687] * xx[46] + xx[702]) * xx[80] + xx[64] - xx[533] - xx[72]; |
| 17420 | pm_math_quatXform(xx + 170, xx + 697, xx + 700); |
| 17421 | xx[697] = xx[80] * (xx[671] - xx[670]); |
| 17422 | xx[698] = (xx[693] + xx[692]) * xx[80]; |
| 17423 | xx[699] = xx[22] - (xx[691] + xx[601]) * xx[80]; |
| 17424 | pm_math_cross3(xx + 697, xx + 84, xx + 691); |
| 17425 | pm_math_quatXform(xx + 676, xx + 691, xx + 697); |
| 17426 | xx[574] = xx[50] * xx[533]; |
| 17427 | xx[601] = xx[50] * xx[559]; |
| 17428 | xx[611] = xx[612] - xx[686]; |
| 17429 | xx[676] = xx[574]; |
| 17430 | xx[677] = xx[601]; |
| 17431 | xx[678] = xx[611]; |
| 17432 | pm_math_cross3(xx + 220, xx + 676, xx + 691); |
| 17433 | xx[676] = (xx[574] * xx[46] + xx[691]) * xx[80] + xx[41] - xx[559] + xx[73]; |
| 17434 | xx[677] = xx[533] + (xx[601] * xx[46] + xx[692]) * xx[80] + xx[17] + xx[72]; |
| 17435 | xx[678] = (xx[46] * xx[611] + xx[693]) * xx[80] + xx[35]; |
| 17436 | pm_math_quatXform(xx + 170, xx + 676, xx + 691); |
| 17437 | pm_math_quatCompose(xx + 216, xx + 602, xx + 676); |
| 17438 | xx[601] = xx[379]; |
| 17439 | xx[602] = xx[546]; |
| 17440 | xx[603] = xx[473]; |
| 17441 | xx[533] = xx[546] * xx[63]; |
| 17442 | xx[559] = xx[63] * xx[379] - xx[57] * xx[473]; |
| 17443 | xx[574] = xx[546] * xx[57]; |
| 17444 | xx[703] = - xx[533]; |
| 17445 | xx[704] = xx[559]; |
| 17446 | xx[705] = xx[574]; |
| 17447 | pm_math_cross3(xx + 601, xx + 703, xx + 706); |
| 17448 | xx[703] = xx[80] * (xx[706] + xx[312] * xx[533]) - xx[57]; |
| 17449 | xx[704] = xx[80] * (xx[707] - xx[312] * xx[559]); |
| 17450 | xx[705] = (xx[708] - xx[312] * xx[574]) * xx[80] - xx[63]; |
| 17451 | pm_math_cross3(xx + 703, xx + 84, xx + 706); |
| 17452 | pm_math_quatXform(xx + 676, xx + 706, xx + 703); |
| 17453 | xx[706] = - (xx[63] * xx[635]); |
| 17454 | xx[707] = xx[63] * xx[463] + xx[57] * xx[446]; |
| 17455 | xx[708] = xx[57] * xx[635]; |
| 17456 | pm_math_quatXform(xx + 140, xx + 706, xx + 709); |
| 17457 | xx[706] = xx[709] + xx[60]; |
| 17458 | xx[707] = xx[710] + xx[61] - xx[67]; |
| 17459 | xx[708] = xx[711] - xx[40]; |
| 17460 | pm_math_quatXform(xx + 212, xx + 706, xx + 709); |
| 17461 | xx[533] = xx[72] * xx[679]; |
| 17462 | xx[559] = xx[72] * xx[677] - xx[73] * xx[678]; |
| 17463 | xx[706] = - xx[533]; |
| 17464 | xx[707] = xx[73] * xx[679]; |
| 17465 | xx[708] = xx[559]; |
| 17466 | pm_math_cross3(xx + 677, xx + 706, xx + 712); |
| 17467 | xx[574] = xx[506] * xx[473]; |
| 17468 | xx[604] = xx[535] * xx[473]; |
| 17469 | xx[605] = xx[506] * xx[379] + xx[546] * xx[535]; |
| 17470 | xx[706] = xx[574]; |
| 17471 | xx[707] = xx[604]; |
| 17472 | xx[708] = - xx[605]; |
| 17473 | pm_math_cross3(xx + 601, xx + 706, xx + 715); |
| 17474 | xx[611] = xx[535] + xx[80] * (xx[715] + xx[312] * xx[574]); |
| 17475 | xx[535] = (xx[312] * xx[604] + xx[716]) * xx[80] - xx[506]; |
| 17476 | xx[506] = xx[717] - xx[312] * xx[605]; |
| 17477 | xx[574] = xx[506] * xx[80]; |
| 17478 | xx[706] = xx[611]; |
| 17479 | xx[707] = xx[535]; |
| 17480 | xx[708] = xx[574]; |
| 17481 | pm_math_quatXform(xx + 216, xx + 706, xx + 715); |
| 17482 | xx[604] = xx[2] * xx[880]; |
| 17483 | xx[605] = cos(xx[604]); |
| 17484 | xx[612] = xx[2] * xx[878]; |
| 17485 | xx[660] = cos(xx[612]); |
| 17486 | xx[670] = sin(xx[612]); |
| 17487 | xx[612] = xx[532] * xx[660] + xx[584] * xx[670]; |
| 17488 | xx[671] = xx[605] * xx[612]; |
| 17489 | xx[677] = xx[584] * xx[660] - xx[532] * xx[670]; |
| 17490 | xx[532] = sin(xx[604]); |
| 17491 | xx[584] = xx[677] * xx[532]; |
| 17492 | xx[604] = xx[609] * xx[670] - xx[637] * xx[660]; |
| 17493 | xx[678] = xx[609] * xx[660] + xx[637] * xx[670]; |
| 17494 | xx[609] = - (xx[604] * xx[605] + xx[532] * xx[678]); |
| 17495 | xx[637] = xx[604] * xx[532] - xx[605] * xx[678]; |
| 17496 | xx[660] = xx[677] * xx[605] - xx[532] * xx[612]; |
| 17497 | xx[721] = - (xx[671] + xx[584]); |
| 17498 | xx[722] = xx[609]; |
| 17499 | xx[723] = xx[637]; |
| 17500 | xx[724] = xx[660]; |
| 17501 | xx[670] = xx[21] * xx[885] - xx[25] * xx[882]; |
| 17502 | xx[686] = xx[21] * xx[884] + xx[25] * xx[883]; |
| 17503 | xx[687] = - xx[686]; |
| 17504 | xx[706] = xx[25] * xx[884] - xx[21] * xx[883]; |
| 17505 | xx[707] = - xx[706]; |
| 17506 | xx[708] = xx[21] * xx[882] + xx[25] * xx[885]; |
| 17507 | xx[718] = - xx[708]; |
| 17508 | xx[725] = xx[670]; |
| 17509 | xx[726] = xx[687]; |
| 17510 | xx[727] = xx[707]; |
| 17511 | xx[728] = xx[718]; |
| 17512 | pm_math_quatCompose(xx + 721, xx + 725, xx + 729); |
| 17513 | xx[721] = (xx[706] * xx[670] + xx[708] * xx[686]) * xx[80]; |
| 17514 | xx[722] = xx[80] * (xx[706] * xx[708] - xx[670] * xx[686]); |
| 17515 | xx[723] = xx[22] - (xx[686] * xx[686] + xx[706] * xx[706]) * xx[80]; |
| 17516 | pm_math_cross3(xx + 721, xx + 267, xx + 733); |
| 17517 | pm_math_quatXform(xx + 729, xx + 733, xx + 721); |
| 17518 | pm_math_quatXform(xx + 725, xx + 126, xx + 729); |
| 17519 | xx[719] = xx[730] * xx[532] - xx[605] * xx[729]; |
| 17520 | xx[724] = xx[684] * xx[605] + xx[685] * xx[532]; |
| 17521 | xx[731] = xx[80] * xx[724] * xx[532]; |
| 17522 | xx[732] = xx[80] * xx[532] * xx[719] - (xx[730] - xx[731]) - xx[685]; |
| 17523 | xx[733] = - xx[612]; |
| 17524 | xx[734] = xx[733]; |
| 17525 | xx[735] = xx[677]; |
| 17526 | xx[736] = xx[678]; |
| 17527 | xx[737] = xx[80] * xx[724] * xx[605]; |
| 17528 | xx[724] = xx[729] + xx[80] * xx[605] * xx[719] + xx[737] - xx[684]; |
| 17529 | xx[719] = xx[724] * xx[678]; |
| 17530 | xx[739] = xx[732] * xx[678]; |
| 17531 | xx[740] = xx[724] * xx[612] + xx[677] * xx[732]; |
| 17532 | xx[741] = - xx[719]; |
| 17533 | xx[742] = xx[739]; |
| 17534 | xx[743] = - xx[740]; |
| 17535 | pm_math_cross3(xx + 734, xx + 741, xx + 748); |
| 17536 | xx[741] = - (xx[584] + xx[671]); |
| 17537 | xx[742] = xx[609]; |
| 17538 | xx[743] = xx[637]; |
| 17539 | xx[744] = xx[660]; |
| 17540 | pm_math_quatCompose(xx + 741, xx + 725, xx + 751); |
| 17541 | pm_math_quatXform(xx + 751, xx + 280, xx + 734); |
| 17542 | pm_math_quatXform(xx + 725, xx + 167, xx + 755); |
| 17543 | pm_math_quatXform(xx + 741, xx + 755, xx + 758); |
| 17544 | pm_math_quatXform(xx + 751, xx + 297, xx + 755); |
| 17545 | pm_math_quatXform(xx + 725, xx + 176, xx + 761); |
| 17546 | pm_math_quatXform(xx + 741, xx + 761, xx + 764); |
| 17547 | xx[584] = xx[102] * xx[754]; |
| 17548 | xx[609] = xx[102] * xx[752] + xx[123] * xx[753]; |
| 17549 | xx[761] = - xx[584]; |
| 17550 | xx[762] = - (xx[123] * xx[754]); |
| 17551 | xx[763] = xx[609]; |
| 17552 | pm_math_cross3(xx + 752, xx + 761, xx + 767); |
| 17553 | xx[761] = xx[687]; |
| 17554 | xx[762] = xx[707]; |
| 17555 | xx[763] = xx[718]; |
| 17556 | xx[637] = xx[117] * xx[708]; |
| 17557 | xx[660] = xx[119] * xx[708]; |
| 17558 | xx[671] = xx[117] * xx[686] + xx[706] * xx[119]; |
| 17559 | xx[770] = xx[637]; |
| 17560 | xx[771] = xx[660]; |
| 17561 | xx[772] = - xx[671]; |
| 17562 | pm_math_cross3(xx + 761, xx + 770, xx + 773); |
| 17563 | xx[761] = xx[80] * (xx[773] + xx[637] * xx[670]) - xx[119]; |
| 17564 | xx[762] = xx[117] + (xx[660] * xx[670] + xx[774]) * xx[80]; |
| 17565 | xx[763] = (xx[775] - xx[671] * xx[670]) * xx[80]; |
| 17566 | pm_math_quatXform(xx + 741, xx + 761, xx + 770); |
| 17567 | xx[637] = xx[2] * xx[806]; |
| 17568 | xx[660] = cos(xx[637]); |
| 17569 | xx[671] = xx[2] * xx[804]; |
| 17570 | xx[687] = cos(xx[671]); |
| 17571 | xx[707] = sin(xx[671]); |
| 17572 | xx[671] = xx[643] * xx[687] + xx[672] * xx[707]; |
| 17573 | xx[718] = xx[660] * xx[671]; |
| 17574 | xx[741] = xx[672] * xx[687] - xx[643] * xx[707]; |
| 17575 | xx[643] = sin(xx[637]); |
| 17576 | xx[637] = xx[741] * xx[643]; |
| 17577 | xx[672] = xx[680] * xx[687] - xx[720] * xx[707]; |
| 17578 | xx[742] = xx[720] * xx[687] + xx[680] * xx[707]; |
| 17579 | xx[680] = - (xx[672] * xx[660] - xx[643] * xx[742]); |
| 17580 | xx[687] = xx[672] * xx[643] + xx[660] * xx[742]; |
| 17581 | xx[707] = xx[741] * xx[660] - xx[643] * xx[671]; |
| 17582 | xx[773] = - (xx[718] + xx[637]); |
| 17583 | xx[774] = xx[680]; |
| 17584 | xx[775] = xx[687]; |
| 17585 | xx[776] = xx[707]; |
| 17586 | xx[720] = xx[21] * xx[811] - xx[25] * xx[808]; |
| 17587 | xx[743] = xx[21] * xx[810] + xx[25] * xx[809]; |
| 17588 | xx[744] = - xx[743]; |
| 17589 | xx[745] = xx[25] * xx[810] - xx[21] * xx[809]; |
| 17590 | xx[752] = - xx[745]; |
| 17591 | xx[753] = xx[21] * xx[808] + xx[25] * xx[811]; |
| 17592 | xx[761] = - xx[753]; |
| 17593 | xx[777] = xx[720]; |
| 17594 | xx[778] = xx[744]; |
| 17595 | xx[779] = xx[752]; |
| 17596 | xx[780] = xx[761]; |
| 17597 | pm_math_quatCompose(xx + 773, xx + 777, xx + 781); |
| 17598 | xx[773] = (xx[745] * xx[720] + xx[743] * xx[753]) * xx[80]; |
| 17599 | xx[774] = xx[80] * (xx[745] * xx[753] - xx[743] * xx[720]); |
| 17600 | xx[775] = xx[22] - (xx[743] * xx[743] + xx[745] * xx[745]) * xx[80]; |
| 17601 | pm_math_cross3(xx + 773, xx + 267, xx + 785); |
| 17602 | pm_math_quatXform(xx + 781, xx + 785, xx + 773); |
| 17603 | pm_math_quatXform(xx + 777, xx + 126, xx + 781); |
| 17604 | xx[762] = xx[782] * xx[643] - xx[660] * xx[781]; |
| 17605 | xx[763] = xx[746] * xx[660] - xx[747] * xx[643]; |
| 17606 | xx[776] = xx[80] * xx[763] * xx[643]; |
| 17607 | xx[783] = xx[80] * xx[643] * xx[762] - (xx[782] + xx[776]) - xx[747]; |
| 17608 | xx[784] = - xx[671]; |
| 17609 | xx[785] = - xx[742]; |
| 17610 | xx[786] = xx[784]; |
| 17611 | xx[787] = xx[741]; |
| 17612 | xx[788] = xx[785]; |
| 17613 | xx[789] = xx[80] * xx[763] * xx[660]; |
| 17614 | xx[763] = xx[781] + xx[80] * xx[660] * xx[762] - xx[789] + xx[746]; |
| 17615 | xx[762] = xx[763] * xx[742]; |
| 17616 | xx[889] = xx[783] * xx[742]; |
| 17617 | xx[890] = xx[763] * xx[671] + xx[741] * xx[783]; |
| 17618 | xx[891] = xx[762]; |
| 17619 | xx[892] = - xx[889]; |
| 17620 | xx[893] = - xx[890]; |
| 17621 | pm_math_cross3(xx + 786, xx + 891, xx + 894); |
| 17622 | xx[897] = - (xx[637] + xx[718]); |
| 17623 | xx[898] = xx[680]; |
| 17624 | xx[899] = xx[687]; |
| 17625 | xx[900] = xx[707]; |
| 17626 | pm_math_quatCompose(xx + 897, xx + 777, xx + 901); |
| 17627 | pm_math_quatXform(xx + 901, xx + 280, xx + 786); |
| 17628 | pm_math_quatXform(xx + 777, xx + 167, xx + 280); |
| 17629 | pm_math_quatXform(xx + 897, xx + 280, xx + 167); |
| 17630 | pm_math_quatXform(xx + 901, xx + 297, xx + 280); |
| 17631 | pm_math_quatXform(xx + 777, xx + 176, xx + 297); |
| 17632 | pm_math_quatXform(xx + 897, xx + 297, xx + 176); |
| 17633 | xx[297] = xx[102] * xx[904]; |
| 17634 | xx[298] = xx[102] * xx[902] + xx[123] * xx[903]; |
| 17635 | xx[891] = - xx[297]; |
| 17636 | xx[892] = - (xx[123] * xx[904]); |
| 17637 | xx[893] = xx[298]; |
| 17638 | pm_math_cross3(xx + 902, xx + 891, xx + 905); |
| 17639 | xx[891] = xx[744]; |
| 17640 | xx[892] = xx[752]; |
| 17641 | xx[893] = xx[761]; |
| 17642 | xx[299] = xx[117] * xx[753]; |
| 17643 | xx[637] = xx[119] * xx[753]; |
| 17644 | xx[680] = xx[117] * xx[743] + xx[745] * xx[119]; |
| 17645 | xx[908] = xx[299]; |
| 17646 | xx[909] = xx[637]; |
| 17647 | xx[910] = - xx[680]; |
| 17648 | pm_math_cross3(xx + 891, xx + 908, xx + 911); |
| 17649 | xx[891] = xx[80] * (xx[911] + xx[299] * xx[720]) - xx[119]; |
| 17650 | xx[892] = xx[117] + (xx[637] * xx[720] + xx[912]) * xx[80]; |
| 17651 | xx[893] = (xx[913] - xx[680] * xx[720]) * xx[80]; |
| 17652 | pm_math_quatXform(xx + 897, xx + 891, xx + 908); |
| 17653 | xx[299] = xx[2] * xx[843]; |
| 17654 | xx[2] = cos(xx[299]); |
| 17655 | xx[637] = sin(xx[299]); |
| 17656 | xx[299] = xx[2] * xx[75] + xx[637] * xx[51]; |
| 17657 | xx[680] = xx[65] * xx[2] - xx[637] * xx[66]; |
| 17658 | xx[687] = xx[2] * xx[66] + xx[65] * xx[637]; |
| 17659 | xx[65] = xx[2] * xx[51] - xx[637] * xx[75]; |
| 17660 | xx[897] = xx[299]; |
| 17661 | xx[898] = xx[680]; |
| 17662 | xx[899] = xx[687]; |
| 17663 | xx[900] = xx[65]; |
| 17664 | pm_math_quatCompose(xx + 68, xx + 897, xx + 911); |
| 17665 | pm_math_quatCompose(xx + 42, xx + 911, xx + 915); |
| 17666 | pm_math_quatCompose(xx + 31, xx + 915, xx + 919); |
| 17667 | xx[31] = xx[80] * (xx[916] * xx[918] - xx[915] * xx[917]); |
| 17668 | xx[32] = (xx[915] * xx[916] + xx[917] * xx[918]) * xx[80]; |
| 17669 | xx[33] = xx[22] - (xx[916] * xx[916] + xx[917] * xx[917]) * xx[80]; |
| 17670 | pm_math_cross3(xx + 31, xx + 84, xx + 891); |
| 17671 | pm_math_quatXform(xx + 919, xx + 891, xx + 31); |
| 17672 | xx[34] = xx[54] * xx[637]; |
| 17673 | xx[51] = xx[34] * xx[637]; |
| 17674 | xx[66] = xx[738] * xx[637]; |
| 17675 | xx[75] = xx[2] * xx[66]; |
| 17676 | xx[707] = xx[20] - (xx[80] * (xx[51] - xx[75]) - xx[54]); |
| 17677 | xx[20] = xx[2] * xx[34]; |
| 17678 | xx[34] = xx[66] * xx[637]; |
| 17679 | xx[66] = (xx[20] + xx[34]) * xx[80] - xx[738]; |
| 17680 | xx[891] = xx[707]; |
| 17681 | xx[892] = - xx[66]; |
| 17682 | xx[893] = xx[791]; |
| 17683 | pm_math_quatXform(xx + 140, xx + 891, xx + 919); |
| 17684 | xx[718] = xx[919] - xx[104]; |
| 17685 | xx[104] = xx[920] + xx[96]; |
| 17686 | xx[96] = xx[921] - xx[107]; |
| 17687 | xx[891] = xx[718]; |
| 17688 | xx[892] = xx[104]; |
| 17689 | xx[893] = xx[96]; |
| 17690 | pm_math_quatXform(xx + 68, xx + 891, xx + 919); |
| 17691 | xx[107] = xx[919] + xx[105]; |
| 17692 | xx[105] = xx[920] + xx[118]; |
| 17693 | xx[118] = xx[921] + xx[121]; |
| 17694 | xx[919] = xx[107]; |
| 17695 | xx[920] = xx[105]; |
| 17696 | xx[921] = xx[118]; |
| 17697 | pm_math_quatXform(xx + 42, xx + 919, xx + 922); |
| 17698 | xx[121] = xx[923] + xx[148]; |
| 17699 | xx[148] = xx[922] + xx[147]; |
| 17700 | xx[147] = xx[121] * xx[19] - xx[148] * xx[15]; |
| 17701 | xx[744] = xx[80] * xx[19] * xx[147] - (xx[121] - xx[145]) - xx[135]; |
| 17702 | xx[752] = xx[148] + xx[80] * xx[15] * xx[147] + xx[152] - xx[131]; |
| 17703 | xx[147] = xx[26] * xx[752]; |
| 17704 | xx[761] = xx[26] * xx[744]; |
| 17705 | xx[791] = xx[6] * xx[752] - xx[744] * xx[14]; |
| 17706 | xx[922] = - xx[147]; |
| 17707 | xx[923] = xx[761]; |
| 17708 | xx[924] = xx[791]; |
| 17709 | pm_math_cross3(xx + 149, xx + 922, xx + 925); |
| 17710 | pm_math_quatCompose(xx + 170, xx + 911, xx + 928); |
| 17711 | xx[149] = xx[4] * xx[914]; |
| 17712 | xx[150] = xx[4] * xx[912] + xx[913]; |
| 17713 | xx[922] = xx[149]; |
| 17714 | xx[923] = xx[914]; |
| 17715 | xx[924] = - xx[150]; |
| 17716 | pm_math_cross3(xx + 912, xx + 922, xx + 932); |
| 17717 | xx[151] = xx[911] * xx[914]; |
| 17718 | xx[922] = xx[22] + (xx[932] - xx[911] * xx[149]) * xx[80]; |
| 17719 | xx[923] = xx[80] * (xx[933] - xx[151]) - xx[4]; |
| 17720 | xx[924] = xx[80] * (xx[934] + xx[911] * xx[150]); |
| 17721 | pm_math_cross3(xx + 922, xx + 84, xx + 932); |
| 17722 | pm_math_quatXform(xx + 928, xx + 932, xx + 922); |
| 17723 | xx[150] = - (xx[118] * xx[4]); |
| 17724 | xx[932] = xx[150]; |
| 17725 | xx[933] = - xx[118]; |
| 17726 | xx[934] = xx[105] + xx[107] * xx[4]; |
| 17727 | pm_math_quatXform(xx + 42, xx + 932, xx + 935); |
| 17728 | xx[932] = xx[935] + xx[183]; |
| 17729 | xx[933] = xx[936] + xx[184]; |
| 17730 | xx[934] = xx[937] + xx[185]; |
| 17731 | pm_math_quatXform(xx + 161, xx + 932, xx + 183); |
| 17732 | xx[902] = xx[912] - xx[4] * xx[913]; |
| 17733 | xx[932] = - xx[914]; |
| 17734 | xx[933] = xx[149]; |
| 17735 | xx[934] = xx[902]; |
| 17736 | pm_math_cross3(xx + 912, xx + 932, xx + 935); |
| 17737 | xx[932] = xx[4] + (xx[151] + xx[935]) * xx[80]; |
| 17738 | xx[933] = xx[22] + xx[80] * (xx[936] - xx[4] * xx[151]); |
| 17739 | xx[934] = xx[80] * (xx[937] - xx[911] * xx[902]); |
| 17740 | pm_math_cross3(xx + 932, xx + 84, xx + 935); |
| 17741 | pm_math_quatXform(xx + 928, xx + 935, xx + 932); |
| 17742 | xx[935] = xx[118]; |
| 17743 | xx[936] = xx[150]; |
| 17744 | xx[937] = xx[105] * xx[4] - xx[107]; |
| 17745 | pm_math_quatXform(xx + 42, xx + 935, xx + 149); |
| 17746 | xx[935] = xx[149] + xx[197]; |
| 17747 | xx[936] = xx[150] + xx[198]; |
| 17748 | xx[937] = xx[151] + xx[199]; |
| 17749 | pm_math_quatXform(xx + 161, xx + 935, xx + 149); |
| 17750 | xx[197] = xx[80] * (xx[912] * xx[914] - xx[911] * xx[913]); |
| 17751 | xx[198] = (xx[911] * xx[912] + xx[913] * xx[914]) * xx[80]; |
| 17752 | xx[199] = xx[22] - (xx[912] * xx[912] + xx[913] * xx[913]) * xx[80]; |
| 17753 | pm_math_cross3(xx + 197, xx + 84, xx + 935); |
| 17754 | pm_math_quatXform(xx + 928, xx + 935, xx + 197); |
| 17755 | xx[4] = xx[107] * xx[38]; |
| 17756 | xx[118] = xx[105] * xx[38]; |
| 17757 | xx[38] = xx[107] * xx[29] + xx[36] * xx[105]; |
| 17758 | xx[928] = xx[4]; |
| 17759 | xx[929] = xx[118]; |
| 17760 | xx[930] = - xx[38]; |
| 17761 | pm_math_cross3(xx + 179, xx + 928, xx + 935); |
| 17762 | xx[179] = xx[80] * (xx[935] + xx[4] * xx[28]) + xx[37] - xx[105] - xx[119]; |
| 17763 | xx[180] = xx[107] + xx[80] * (xx[936] + xx[118] * xx[28]) + xx[23] + xx[117]; |
| 17764 | xx[181] = (xx[937] - xx[28] * xx[38]) * xx[80] + xx[27]; |
| 17765 | pm_math_quatXform(xx + 161, xx + 179, xx + 27); |
| 17766 | pm_math_quatCompose(xx + 212, xx + 897, xx + 161); |
| 17767 | xx[4] = xx[687] * xx[687]; |
| 17768 | xx[23] = xx[65] * xx[65]; |
| 17769 | xx[36] = xx[687] * xx[680]; |
| 17770 | xx[37] = xx[299] * xx[65]; |
| 17771 | xx[38] = xx[687] * xx[299]; |
| 17772 | xx[105] = xx[680] * xx[65]; |
| 17773 | xx[117] = xx[22] - (xx[4] + xx[23]) * xx[80]; |
| 17774 | xx[118] = xx[80] * (xx[36] - xx[37]); |
| 17775 | xx[119] = (xx[38] + xx[105]) * xx[80]; |
| 17776 | pm_math_cross3(xx + 117, xx + 84, xx + 179); |
| 17777 | pm_math_quatXform(xx + 161, xx + 179, xx + 117); |
| 17778 | xx[107] = xx[48] * xx[104]; |
| 17779 | xx[179] = xx[50] * xx[96]; |
| 17780 | xx[180] = xx[107] + xx[179]; |
| 17781 | xx[181] = xx[104] * xx[47]; |
| 17782 | xx[902] = xx[96] * xx[47]; |
| 17783 | xx[928] = - xx[180]; |
| 17784 | xx[929] = - xx[181]; |
| 17785 | xx[930] = - xx[902]; |
| 17786 | pm_math_cross3(xx + 220, xx + 928, xx + 935); |
| 17787 | xx[928] = xx[80] * (xx[935] - xx[180] * xx[46]) + xx[195]; |
| 17788 | xx[929] = xx[80] * (xx[936] - xx[181] * xx[46]) + xx[182] - xx[96] - xx[74]; |
| 17789 | xx[930] = xx[104] + xx[80] * (xx[937] - xx[902] * xx[46]) + xx[192] - xx[73]; |
| 17790 | pm_math_quatXform(xx + 170, xx + 928, xx + 180); |
| 17791 | xx[192] = xx[680] * xx[680]; |
| 17792 | xx[195] = xx[687] * xx[65]; |
| 17793 | xx[65] = xx[299] * xx[680]; |
| 17794 | xx[928] = (xx[37] + xx[36]) * xx[80]; |
| 17795 | xx[929] = xx[22] - (xx[23] + xx[192]) * xx[80]; |
| 17796 | xx[930] = xx[80] * (xx[195] - xx[65]); |
| 17797 | pm_math_cross3(xx + 928, xx + 84, xx + 935); |
| 17798 | pm_math_quatXform(xx + 161, xx + 935, xx + 928); |
| 17799 | xx[23] = xx[48] * xx[718]; |
| 17800 | xx[36] = xx[718] * xx[47]; |
| 17801 | xx[37] = xx[36] - xx[179]; |
| 17802 | xx[47] = xx[48] * xx[96]; |
| 17803 | xx[935] = xx[23]; |
| 17804 | xx[936] = xx[37]; |
| 17805 | xx[937] = xx[47]; |
| 17806 | pm_math_cross3(xx + 220, xx + 935, xx + 938); |
| 17807 | xx[935] = xx[96] + (xx[23] * xx[46] + xx[938]) * xx[80] + xx[175] + xx[74]; |
| 17808 | xx[936] = (xx[46] * xx[37] + xx[939]) * xx[80] + xx[53]; |
| 17809 | xx[937] = (xx[47] * xx[46] + xx[940]) * xx[80] + xx[64] - xx[718] - xx[72]; |
| 17810 | pm_math_quatXform(xx + 170, xx + 935, xx + 938); |
| 17811 | xx[935] = xx[80] * (xx[105] - xx[38]); |
| 17812 | xx[936] = (xx[65] + xx[195]) * xx[80]; |
| 17813 | xx[937] = xx[22] - (xx[192] + xx[4]) * xx[80]; |
| 17814 | pm_math_cross3(xx + 935, xx + 84, xx + 941); |
| 17815 | pm_math_quatXform(xx + 161, xx + 941, xx + 935); |
| 17816 | xx[4] = xx[50] * xx[718]; |
| 17817 | xx[22] = xx[50] * xx[104]; |
| 17818 | xx[23] = xx[36] - xx[107]; |
| 17819 | xx[36] = xx[4]; |
| 17820 | xx[37] = xx[22]; |
| 17821 | xx[38] = xx[23]; |
| 17822 | pm_math_cross3(xx + 220, xx + 36, xx + 161); |
| 17823 | xx[36] = (xx[4] * xx[46] + xx[161]) * xx[80] + xx[41] - xx[104] + xx[73]; |
| 17824 | xx[37] = xx[718] + (xx[22] * xx[46] + xx[162]) * xx[80] + xx[17] + xx[72]; |
| 17825 | xx[38] = (xx[46] * xx[23] + xx[163]) * xx[80] + xx[35]; |
| 17826 | pm_math_quatXform(xx + 170, xx + 36, xx + 46); |
| 17827 | xx[4] = xx[2] * xx[216] + xx[219] * xx[637]; |
| 17828 | xx[17] = xx[2] * xx[217] - xx[218] * xx[637]; |
| 17829 | xx[22] = xx[2] * xx[218] + xx[217] * xx[637]; |
| 17830 | xx[23] = xx[2] * xx[219] - xx[216] * xx[637]; |
| 17831 | xx[35] = xx[4]; |
| 17832 | xx[36] = xx[17]; |
| 17833 | xx[37] = xx[22]; |
| 17834 | xx[38] = xx[23]; |
| 17835 | xx[41] = xx[57] * xx[637]; |
| 17836 | xx[50] = xx[80] * xx[2] * xx[41]; |
| 17837 | xx[53] = xx[80] * xx[41] * xx[637] - xx[57]; |
| 17838 | xx[161] = xx[74] * xx[50] + xx[55]; |
| 17839 | xx[162] = xx[106] + xx[74] * xx[53]; |
| 17840 | xx[163] = xx[73] * xx[53] - xx[72] * xx[50]; |
| 17841 | pm_math_quatXform(xx + 35, xx + 161, xx + 104); |
| 17842 | xx[35] = - (xx[63] * xx[66]); |
| 17843 | xx[36] = - (xx[63] * xx[707] + xx[30]); |
| 17844 | xx[37] = xx[57] * xx[66]; |
| 17845 | pm_math_quatXform(xx + 140, xx + 35, xx + 161); |
| 17846 | xx[35] = xx[161] + xx[60]; |
| 17847 | xx[36] = xx[162] + xx[61] - xx[67]; |
| 17848 | xx[37] = xx[163] - xx[40]; |
| 17849 | pm_math_quatXform(xx + 212, xx + 35, xx + 161); |
| 17850 | xx[35] = xx[17]; |
| 17851 | xx[36] = xx[22]; |
| 17852 | xx[37] = xx[23]; |
| 17853 | xx[30] = xx[72] * xx[23]; |
| 17854 | xx[38] = xx[73] * xx[23]; |
| 17855 | xx[23] = xx[72] * xx[17] - xx[22] * xx[73]; |
| 17856 | xx[170] = - xx[30]; |
| 17857 | xx[171] = xx[38]; |
| 17858 | xx[172] = xx[23]; |
| 17859 | pm_math_cross3(xx + 35, xx + 170, xx + 212); |
| 17860 | xx[17] = xx[738] - xx[80] * (xx[20] + xx[34]); |
| 17861 | xx[20] = xx[54] + (xx[75] - xx[51]) * xx[80]; |
| 17862 | xx[22] = xx[219] * xx[20]; |
| 17863 | xx[34] = xx[17] * xx[219]; |
| 17864 | xx[35] = xx[217] * xx[20] + xx[17] * xx[218]; |
| 17865 | xx[53] = xx[22]; |
| 17866 | xx[54] = xx[34]; |
| 17867 | xx[55] = - xx[35]; |
| 17868 | pm_math_cross3(xx + 217, xx + 53, xx + 170); |
| 17869 | xx[941] = xx[0]; |
| 17870 | xx[942] = xx[0]; |
| 17871 | xx[943] = xx[0]; |
| 17872 | xx[944] = xx[0]; |
| 17873 | xx[945] = xx[81] + xx[146] + xx[80] * (xx[158] - xx[129] * xx[24]); |
| 17874 | xx[946] = xx[155] + xx[186]; |
| 17875 | xx[947] = xx[189] + xx[200]; |
| 17876 | xx[948] = xx[203] + xx[209]; |
| 17877 | xx[949] = xx[206] + xx[226]; |
| 17878 | xx[950] = xx[223] + xx[232]; |
| 17879 | xx[951] = xx[229] + xx[235]; |
| 17880 | xx[952] = xx[251] + xx[247]; |
| 17881 | xx[953] = xx[80] * (xx[263] - xx[3] * xx[49]) + xx[8] + xx[80] * (xx[258] - |
| 17882 | xx[216] * xx[77]) + xx[73]; |
| 17883 | xx[954] = xx[0]; |
| 17884 | xx[955] = xx[0]; |
| 17885 | xx[956] = xx[0]; |
| 17886 | xx[957] = xx[0]; |
| 17887 | xx[958] = xx[0]; |
| 17888 | xx[959] = xx[0]; |
| 17889 | xx[960] = xx[0]; |
| 17890 | xx[961] = xx[0]; |
| 17891 | xx[962] = - (xx[239] + xx[279] + xx[80] * (xx[294] + xx[165] * xx[242])); |
| 17892 | xx[963] = - (xx[285] + xx[308]); |
| 17893 | xx[964] = - (xx[291] + xx[318]); |
| 17894 | xx[965] = - (xx[80] * (xx[321] - xx[304] * xx[87]) + xx[328] - xx[123]); |
| 17895 | xx[966] = xx[0]; |
| 17896 | xx[967] = xx[0]; |
| 17897 | xx[968] = xx[0]; |
| 17898 | xx[969] = xx[0]; |
| 17899 | xx[970] = xx[0]; |
| 17900 | xx[971] = xx[0]; |
| 17901 | xx[972] = xx[0]; |
| 17902 | xx[973] = xx[0]; |
| 17903 | xx[974] = xx[0]; |
| 17904 | xx[975] = xx[0]; |
| 17905 | xx[976] = xx[0]; |
| 17906 | xx[977] = xx[0]; |
| 17907 | xx[978] = xx[82] + xx[144] + (xx[153] * xx[24] + xx[159]) * xx[80]; |
| 17908 | xx[979] = xx[156] + xx[187]; |
| 17909 | xx[980] = xx[190] + xx[201]; |
| 17910 | xx[981] = xx[204] + xx[210]; |
| 17911 | xx[982] = xx[207] + xx[227]; |
| 17912 | xx[983] = xx[224] + xx[233]; |
| 17913 | xx[984] = xx[230] + xx[236]; |
| 17914 | xx[985] = xx[252] + xx[248]; |
| 17915 | xx[986] = (xx[3] * xx[111] + xx[264]) * xx[80] + xx[11] + (xx[216] * xx[78] + |
| 17916 | xx[259]) * xx[80] + xx[72]; |
| 17917 | xx[987] = xx[0]; |
| 17918 | xx[988] = xx[0]; |
| 17919 | xx[989] = xx[0]; |
| 17920 | xx[990] = xx[0]; |
| 17921 | xx[991] = xx[0]; |
| 17922 | xx[992] = xx[0]; |
| 17923 | xx[993] = xx[0]; |
| 17924 | xx[994] = xx[0]; |
| 17925 | xx[995] = - (xx[240] + xx[277] + (xx[295] - xx[165] * xx[289]) * xx[80]); |
| 17926 | xx[996] = - (xx[286] + xx[309]); |
| 17927 | xx[997] = - (xx[292] + xx[319]); |
| 17928 | xx[998] = - ((xx[322] - xx[123] * xx[304] * xx[307]) * xx[80] + xx[329] + xx |
| 17929 | [102]); |
| 17930 | xx[999] = xx[0]; |
| 17931 | xx[1000] = xx[0]; |
| 17932 | xx[1001] = xx[0]; |
| 17933 | xx[1002] = xx[0]; |
| 17934 | xx[1003] = xx[0]; |
| 17935 | xx[1004] = xx[0]; |
| 17936 | xx[1005] = xx[0]; |
| 17937 | xx[1006] = xx[0]; |
| 17938 | xx[1007] = xx[0]; |
| 17939 | xx[1008] = xx[0]; |
| 17940 | xx[1009] = xx[0]; |
| 17941 | xx[1010] = xx[0]; |
| 17942 | xx[1011] = xx[83] + (xx[24] * xx[154] + xx[160]) * xx[80]; |
| 17943 | xx[1012] = xx[157] + xx[188]; |
| 17944 | xx[1013] = xx[191] + xx[202]; |
| 17945 | xx[1014] = xx[205] + xx[211]; |
| 17946 | xx[1015] = xx[208] + xx[228]; |
| 17947 | xx[1016] = xx[225] + xx[234]; |
| 17948 | xx[1017] = xx[231] + xx[237]; |
| 17949 | xx[1018] = xx[253] + xx[249]; |
| 17950 | xx[1019] = (xx[3] * xx[18] + xx[265]) * xx[80] + (xx[216] * xx[79] + xx[260]) * |
| 17951 | xx[80]; |
| 17952 | xx[1020] = xx[0]; |
| 17953 | xx[1021] = xx[0]; |
| 17954 | xx[1022] = xx[0]; |
| 17955 | xx[1023] = xx[0]; |
| 17956 | xx[1024] = xx[0]; |
| 17957 | xx[1025] = xx[0]; |
| 17958 | xx[1026] = xx[0]; |
| 17959 | xx[1027] = xx[0]; |
| 17960 | xx[1028] = - (xx[241] + (xx[296] - xx[165] * xx[290]) * xx[80]); |
| 17961 | xx[1029] = - (xx[287] + xx[310]); |
| 17962 | xx[1030] = - (xx[293] + xx[320]); |
| 17963 | xx[1031] = - ((xx[304] * xx[115] + xx[323]) * xx[80] + xx[330]); |
| 17964 | xx[1032] = xx[0]; |
| 17965 | xx[1033] = xx[0]; |
| 17966 | xx[1034] = xx[0]; |
| 17967 | xx[1035] = xx[0]; |
| 17968 | xx[1036] = xx[0]; |
| 17969 | xx[1037] = xx[0]; |
| 17970 | xx[1038] = xx[0]; |
| 17971 | xx[1039] = xx[0]; |
| 17972 | xx[1040] = xx[0]; |
| 17973 | xx[1041] = xx[0]; |
| 17974 | xx[1042] = xx[0]; |
| 17975 | xx[1043] = xx[0]; |
| 17976 | xx[1044] = xx[315] + xx[350] + xx[80] * (xx[357] - xx[348] * xx[24]); |
| 17977 | xx[1045] = xx[364] + xx[370]; |
| 17978 | xx[1046] = xx[373] + xx[354]; |
| 17979 | xx[1047] = xx[367] + xx[360]; |
| 17980 | xx[1048] = xx[384] + xx[388]; |
| 17981 | xx[1049] = xx[394] + xx[405]; |
| 17982 | xx[1050] = xx[402] + xx[380]; |
| 17983 | xx[1051] = xx[376] + xx[415]; |
| 17984 | xx[1052] = xx[0]; |
| 17985 | xx[1053] = xx[80] * (xx[418] + xx[411] * xx[120]) + xx[421] - xx[73]; |
| 17986 | xx[1054] = xx[0]; |
| 17987 | xx[1055] = xx[0]; |
| 17988 | xx[1056] = xx[0]; |
| 17989 | xx[1057] = - (xx[424] + xx[427] + xx[80] * (xx[447] - xx[408] * xx[5])); |
| 17990 | xx[1058] = - (xx[434] + xx[464]); |
| 17991 | xx[1059] = - (xx[459] + xx[470]); |
| 17992 | xx[1060] = - (xx[80] * (xx[474] - xx[450] * xx[1]) + xx[477] - xx[123]); |
| 17993 | xx[1061] = xx[0]; |
| 17994 | xx[1062] = xx[0]; |
| 17995 | xx[1063] = xx[0]; |
| 17996 | xx[1064] = xx[0]; |
| 17997 | xx[1065] = xx[0]; |
| 17998 | xx[1066] = xx[0]; |
| 17999 | xx[1067] = xx[0]; |
| 18000 | xx[1068] = xx[0]; |
| 18001 | xx[1069] = xx[0]; |
| 18002 | xx[1070] = xx[0]; |
| 18003 | xx[1071] = xx[0]; |
| 18004 | xx[1072] = xx[0]; |
| 18005 | xx[1073] = xx[0]; |
| 18006 | xx[1074] = xx[0]; |
| 18007 | xx[1075] = xx[0]; |
| 18008 | xx[1076] = xx[0]; |
| 18009 | xx[1077] = xx[316] + xx[351] + (xx[352] * xx[24] + xx[358]) * xx[80]; |
| 18010 | xx[1078] = xx[365] + xx[371]; |
| 18011 | xx[1079] = xx[374] + xx[355]; |
| 18012 | xx[1080] = xx[368] + xx[361]; |
| 18013 | xx[1081] = xx[385] + xx[389]; |
| 18014 | xx[1082] = xx[395] + xx[406]; |
| 18015 | xx[1083] = xx[403] + xx[381]; |
| 18016 | xx[1084] = xx[377] + xx[416]; |
| 18017 | xx[1085] = xx[0]; |
| 18018 | xx[1086] = (xx[419] - xx[73] * xx[411] * xx[414]) * xx[80] + xx[422] - xx[72]; |
| 18019 | xx[1087] = xx[0]; |
| 18020 | xx[1088] = xx[0]; |
| 18021 | xx[1089] = xx[0]; |
| 18022 | xx[1090] = - (xx[425] + xx[412] + (xx[438] * xx[5] + xx[448]) * xx[80]); |
| 18023 | xx[1091] = - (xx[435] + xx[465]); |
| 18024 | xx[1092] = - (xx[460] + xx[471]); |
| 18025 | xx[1093] = - ((xx[475] - xx[123] * xx[450] * xx[453]) * xx[80] + xx[478] + xx |
| 18026 | [102]); |
| 18027 | xx[1094] = xx[0]; |
| 18028 | xx[1095] = xx[0]; |
| 18029 | xx[1096] = xx[0]; |
| 18030 | xx[1097] = xx[0]; |
| 18031 | xx[1098] = xx[0]; |
| 18032 | xx[1099] = xx[0]; |
| 18033 | xx[1100] = xx[0]; |
| 18034 | xx[1101] = xx[0]; |
| 18035 | xx[1102] = xx[0]; |
| 18036 | xx[1103] = xx[0]; |
| 18037 | xx[1104] = xx[0]; |
| 18038 | xx[1105] = xx[0]; |
| 18039 | xx[1106] = xx[0]; |
| 18040 | xx[1107] = xx[0]; |
| 18041 | xx[1108] = xx[0]; |
| 18042 | xx[1109] = xx[0]; |
| 18043 | xx[1110] = xx[317] + (xx[24] * xx[353] + xx[359]) * xx[80]; |
| 18044 | xx[1111] = xx[366] + xx[372]; |
| 18045 | xx[1112] = xx[375] + xx[356]; |
| 18046 | xx[1113] = xx[369] + xx[362]; |
| 18047 | xx[1114] = xx[386] + xx[390]; |
| 18048 | xx[1115] = xx[396] + xx[407]; |
| 18049 | xx[1116] = xx[404] + xx[382]; |
| 18050 | xx[1117] = xx[378] + xx[417]; |
| 18051 | xx[1118] = xx[0]; |
| 18052 | xx[1119] = (xx[411] * xx[166] + xx[420]) * xx[80] + xx[423]; |
| 18053 | xx[1120] = xx[0]; |
| 18054 | xx[1121] = xx[0]; |
| 18055 | xx[1122] = xx[0]; |
| 18056 | xx[1123] = - (xx[426] + (xx[5] * xx[439] + xx[449]) * xx[80]); |
| 18057 | xx[1124] = - (xx[436] + xx[466]); |
| 18058 | xx[1125] = - (xx[461] + xx[472]); |
| 18059 | xx[1126] = - ((xx[450] * xx[12] + xx[476]) * xx[80] + xx[479]); |
| 18060 | xx[1127] = xx[0]; |
| 18061 | xx[1128] = xx[0]; |
| 18062 | xx[1129] = xx[0]; |
| 18063 | xx[1130] = xx[0]; |
| 18064 | xx[1131] = xx[0]; |
| 18065 | xx[1132] = xx[0]; |
| 18066 | xx[1133] = xx[0]; |
| 18067 | xx[1134] = xx[0]; |
| 18068 | xx[1135] = xx[0]; |
| 18069 | xx[1136] = xx[0]; |
| 18070 | xx[1137] = xx[0]; |
| 18071 | xx[1138] = xx[0]; |
| 18072 | xx[1139] = xx[0]; |
| 18073 | xx[1140] = xx[0]; |
| 18074 | xx[1141] = xx[0]; |
| 18075 | xx[1142] = xx[0]; |
| 18076 | xx[1143] = xx[467] + xx[499] + xx[80] * (xx[507] - xx[497] * xx[24]); |
| 18077 | xx[1144] = xx[514] + xx[520]; |
| 18078 | xx[1145] = xx[523] + xx[503]; |
| 18079 | xx[1146] = xx[517] + xx[510]; |
| 18080 | xx[1147] = xx[536] + xx[539]; |
| 18081 | xx[1148] = xx[549] + xx[555]; |
| 18082 | xx[1149] = xx[552] + xx[529]; |
| 18083 | xx[1150] = xx[526] + xx[561]; |
| 18084 | xx[1151] = xx[0]; |
| 18085 | xx[1152] = xx[0]; |
| 18086 | xx[1153] = xx[80] * (xx[564] - xx[542] * xx[363]) + xx[567] + xx[73]; |
| 18087 | xx[1154] = xx[0]; |
| 18088 | xx[1155] = xx[0]; |
| 18089 | xx[1156] = xx[0]; |
| 18090 | xx[1157] = xx[0]; |
| 18091 | xx[1158] = xx[0]; |
| 18092 | xx[1159] = xx[0]; |
| 18093 | xx[1160] = xx[0]; |
| 18094 | xx[1161] = xx[0]; |
| 18095 | xx[1162] = xx[0]; |
| 18096 | xx[1163] = xx[0]; |
| 18097 | xx[1164] = - (xx[570] + xx[583] + xx[80] * (xx[598] + xx[451] * xx[573])); |
| 18098 | xx[1165] = - (xx[586] + xx[606]); |
| 18099 | xx[1166] = - (xx[592] + xx[617]); |
| 18100 | xx[1167] = - (xx[80] * (xx[620] - xx[610] * xx[445]) + xx[623] - xx[123]); |
| 18101 | xx[1168] = xx[0]; |
| 18102 | xx[1169] = xx[0]; |
| 18103 | xx[1170] = xx[0]; |
| 18104 | xx[1171] = xx[0]; |
| 18105 | xx[1172] = xx[0]; |
| 18106 | xx[1173] = xx[0]; |
| 18107 | xx[1174] = xx[0]; |
| 18108 | xx[1175] = xx[0]; |
| 18109 | xx[1176] = xx[468] + xx[500] + (xx[501] * xx[24] + xx[508]) * xx[80]; |
| 18110 | xx[1177] = xx[515] + xx[521]; |
| 18111 | xx[1178] = xx[524] + xx[504]; |
| 18112 | xx[1179] = xx[518] + xx[511]; |
| 18113 | xx[1180] = xx[537] + xx[540]; |
| 18114 | xx[1181] = xx[550] + xx[556]; |
| 18115 | xx[1182] = xx[553] + xx[530]; |
| 18116 | xx[1183] = xx[527] + xx[562]; |
| 18117 | xx[1184] = xx[0]; |
| 18118 | xx[1185] = xx[0]; |
| 18119 | xx[1186] = (xx[73] * xx[542] * xx[545] + xx[565]) * xx[80] + xx[568] + xx[72]; |
| 18120 | xx[1187] = xx[0]; |
| 18121 | xx[1188] = xx[0]; |
| 18122 | xx[1189] = xx[0]; |
| 18123 | xx[1190] = xx[0]; |
| 18124 | xx[1191] = xx[0]; |
| 18125 | xx[1192] = xx[0]; |
| 18126 | xx[1193] = xx[0]; |
| 18127 | xx[1194] = xx[0]; |
| 18128 | xx[1195] = xx[0]; |
| 18129 | xx[1196] = xx[0]; |
| 18130 | xx[1197] = - (xx[571] + xx[581] + (xx[599] - xx[451] * xx[590]) * xx[80]); |
| 18131 | xx[1198] = - (xx[587] + xx[607]); |
| 18132 | xx[1199] = - (xx[593] + xx[618]); |
| 18133 | xx[1200] = - ((xx[621] - xx[123] * xx[610] * xx[613]) * xx[80] + xx[624] + xx |
| 18134 | [102]); |
| 18135 | xx[1201] = xx[0]; |
| 18136 | xx[1202] = xx[0]; |
| 18137 | xx[1203] = xx[0]; |
| 18138 | xx[1204] = xx[0]; |
| 18139 | xx[1205] = xx[0]; |
| 18140 | xx[1206] = xx[0]; |
| 18141 | xx[1207] = xx[0]; |
| 18142 | xx[1208] = xx[0]; |
| 18143 | xx[1209] = xx[469] + (xx[24] * xx[502] + xx[509]) * xx[80]; |
| 18144 | xx[1210] = xx[516] + xx[522]; |
| 18145 | xx[1211] = xx[525] + xx[505]; |
| 18146 | xx[1212] = xx[519] + xx[512]; |
| 18147 | xx[1213] = xx[538] + xx[541]; |
| 18148 | xx[1214] = xx[551] + xx[557]; |
| 18149 | xx[1215] = xx[554] + xx[531]; |
| 18150 | xx[1216] = xx[528] + xx[563]; |
| 18151 | xx[1217] = xx[0]; |
| 18152 | xx[1218] = xx[0]; |
| 18153 | xx[1219] = (xx[542] * xx[392] + xx[566]) * xx[80] + xx[569]; |
| 18154 | xx[1220] = xx[0]; |
| 18155 | xx[1221] = xx[0]; |
| 18156 | xx[1222] = xx[0]; |
| 18157 | xx[1223] = xx[0]; |
| 18158 | xx[1224] = xx[0]; |
| 18159 | xx[1225] = xx[0]; |
| 18160 | xx[1226] = xx[0]; |
| 18161 | xx[1227] = xx[0]; |
| 18162 | xx[1228] = xx[0]; |
| 18163 | xx[1229] = xx[0]; |
| 18164 | xx[1230] = - (xx[572] + (xx[451] * xx[591] + xx[600]) * xx[80]); |
| 18165 | xx[1231] = - (xx[588] + xx[608]); |
| 18166 | xx[1232] = - (xx[594] + xx[619]); |
| 18167 | xx[1233] = - ((xx[610] * xx[462] + xx[622]) * xx[80] + xx[625]); |
| 18168 | xx[1234] = xx[0]; |
| 18169 | xx[1235] = xx[0]; |
| 18170 | xx[1236] = xx[0]; |
| 18171 | xx[1237] = xx[0]; |
| 18172 | xx[1238] = xx[0]; |
| 18173 | xx[1239] = xx[0]; |
| 18174 | xx[1240] = xx[0]; |
| 18175 | xx[1241] = xx[0]; |
| 18176 | xx[1242] = xx[614] + xx[647] + xx[80] * (xx[654] - xx[642] * xx[24]); |
| 18177 | xx[1243] = xx[661] + xx[667]; |
| 18178 | xx[1244] = xx[673] + xx[651]; |
| 18179 | xx[1245] = xx[664] + xx[657]; |
| 18180 | xx[1246] = xx[681] + xx[688]; |
| 18181 | xx[1247] = xx[694] + xx[700]; |
| 18182 | xx[1248] = xx[697] + xx[691]; |
| 18183 | xx[1249] = xx[703] + xx[709]; |
| 18184 | xx[1250] = xx[0]; |
| 18185 | xx[1251] = xx[0]; |
| 18186 | xx[1252] = xx[0]; |
| 18187 | xx[1253] = xx[80] * (xx[712] - xx[676] * xx[533]) + xx[715] + xx[73]; |
| 18188 | xx[1254] = xx[0]; |
| 18189 | xx[1255] = xx[0]; |
| 18190 | xx[1256] = xx[0]; |
| 18191 | xx[1257] = xx[0]; |
| 18192 | xx[1258] = xx[0]; |
| 18193 | xx[1259] = xx[0]; |
| 18194 | xx[1260] = xx[0]; |
| 18195 | xx[1261] = xx[0]; |
| 18196 | xx[1262] = xx[0]; |
| 18197 | xx[1263] = xx[0]; |
| 18198 | xx[1264] = xx[0]; |
| 18199 | xx[1265] = xx[0]; |
| 18200 | xx[1266] = xx[0]; |
| 18201 | xx[1267] = - (xx[721] + xx[732] + xx[80] * (xx[748] - xx[604] * xx[719])); |
| 18202 | xx[1268] = - (xx[734] + xx[758]); |
| 18203 | xx[1269] = - (xx[755] + xx[764]); |
| 18204 | xx[1270] = - (xx[80] * (xx[767] - xx[751] * xx[584]) + xx[770] - xx[123]); |
| 18205 | xx[1271] = xx[0]; |
| 18206 | xx[1272] = xx[0]; |
| 18207 | xx[1273] = xx[0]; |
| 18208 | xx[1274] = xx[0]; |
| 18209 | xx[1275] = xx[615] + xx[648] + (xx[649] * xx[24] + xx[655]) * xx[80]; |
| 18210 | xx[1276] = xx[662] + xx[668]; |
| 18211 | xx[1277] = xx[674] + xx[652]; |
| 18212 | xx[1278] = xx[665] + xx[658]; |
| 18213 | xx[1279] = xx[682] + xx[689]; |
| 18214 | xx[1280] = xx[695] + xx[701]; |
| 18215 | xx[1281] = xx[698] + xx[692]; |
| 18216 | xx[1282] = xx[704] + xx[710]; |
| 18217 | xx[1283] = xx[0]; |
| 18218 | xx[1284] = xx[0]; |
| 18219 | xx[1285] = xx[0]; |
| 18220 | xx[1286] = (xx[73] * xx[676] * xx[679] + xx[713]) * xx[80] + xx[716] + xx[72]; |
| 18221 | xx[1287] = xx[0]; |
| 18222 | xx[1288] = xx[0]; |
| 18223 | xx[1289] = xx[0]; |
| 18224 | xx[1290] = xx[0]; |
| 18225 | xx[1291] = xx[0]; |
| 18226 | xx[1292] = xx[0]; |
| 18227 | xx[1293] = xx[0]; |
| 18228 | xx[1294] = xx[0]; |
| 18229 | xx[1295] = xx[0]; |
| 18230 | xx[1296] = xx[0]; |
| 18231 | xx[1297] = xx[0]; |
| 18232 | xx[1298] = xx[0]; |
| 18233 | xx[1299] = xx[0]; |
| 18234 | xx[1300] = - (xx[722] + xx[724] + (xx[604] * xx[739] + xx[749]) * xx[80]); |
| 18235 | xx[1301] = - (xx[735] + xx[759]); |
| 18236 | xx[1302] = - (xx[756] + xx[765]); |
| 18237 | xx[1303] = - ((xx[768] - xx[123] * xx[751] * xx[754]) * xx[80] + xx[771] + xx |
| 18238 | [102]); |
| 18239 | xx[1304] = xx[0]; |
| 18240 | xx[1305] = xx[0]; |
| 18241 | xx[1306] = xx[0]; |
| 18242 | xx[1307] = xx[0]; |
| 18243 | xx[1308] = xx[616] + (xx[24] * xx[650] + xx[656]) * xx[80]; |
| 18244 | xx[1309] = xx[663] + xx[669]; |
| 18245 | xx[1310] = xx[675] + xx[653]; |
| 18246 | xx[1311] = xx[666] + xx[659]; |
| 18247 | xx[1312] = xx[683] + xx[690]; |
| 18248 | xx[1313] = xx[696] + xx[702]; |
| 18249 | xx[1314] = xx[699] + xx[693]; |
| 18250 | xx[1315] = xx[705] + xx[711]; |
| 18251 | xx[1316] = xx[0]; |
| 18252 | xx[1317] = xx[0]; |
| 18253 | xx[1318] = xx[0]; |
| 18254 | xx[1319] = (xx[676] * xx[559] + xx[714]) * xx[80] + xx[717]; |
| 18255 | xx[1320] = xx[0]; |
| 18256 | xx[1321] = xx[0]; |
| 18257 | xx[1322] = xx[0]; |
| 18258 | xx[1323] = xx[0]; |
| 18259 | xx[1324] = xx[0]; |
| 18260 | xx[1325] = xx[0]; |
| 18261 | xx[1326] = xx[0]; |
| 18262 | xx[1327] = xx[0]; |
| 18263 | xx[1328] = xx[0]; |
| 18264 | xx[1329] = xx[0]; |
| 18265 | xx[1330] = xx[0]; |
| 18266 | xx[1331] = xx[0]; |
| 18267 | xx[1332] = xx[0]; |
| 18268 | xx[1333] = - (xx[723] + (xx[750] - xx[604] * xx[740]) * xx[80]); |
| 18269 | xx[1334] = - (xx[736] + xx[760]); |
| 18270 | xx[1335] = - (xx[757] + xx[766]); |
| 18271 | xx[1336] = - ((xx[751] * xx[609] + xx[769]) * xx[80] + xx[772]); |
| 18272 | xx[1337] = - (xx[773] + xx[783] + xx[80] * (xx[894] + xx[672] * xx[762])); |
| 18273 | xx[1338] = - (xx[786] + xx[167]); |
| 18274 | xx[1339] = - (xx[280] + xx[176]); |
| 18275 | xx[1340] = - (xx[80] * (xx[905] - xx[901] * xx[297]) + xx[908] - xx[123]); |
| 18276 | xx[1341] = xx[31] + xx[744] + xx[80] * (xx[925] - xx[147] * xx[24]); |
| 18277 | xx[1342] = xx[922] + xx[183]; |
| 18278 | xx[1343] = xx[932] + xx[149]; |
| 18279 | xx[1344] = xx[197] + xx[27]; |
| 18280 | xx[1345] = xx[117] + xx[180]; |
| 18281 | xx[1346] = xx[928] + xx[938]; |
| 18282 | xx[1347] = xx[935] + xx[46]; |
| 18283 | xx[1348] = xx[104] + xx[161]; |
| 18284 | xx[1349] = xx[0]; |
| 18285 | xx[1350] = xx[0]; |
| 18286 | xx[1351] = xx[0]; |
| 18287 | xx[1352] = xx[0]; |
| 18288 | xx[1353] = xx[80] * (xx[212] - xx[4] * xx[30]) + xx[17] + xx[80] * (xx[170] + |
| 18289 | xx[216] * xx[22]) + xx[73]; |
| 18290 | xx[1354] = xx[0]; |
| 18291 | xx[1355] = xx[0]; |
| 18292 | xx[1356] = xx[0]; |
| 18293 | xx[1357] = xx[0]; |
| 18294 | xx[1358] = xx[0]; |
| 18295 | xx[1359] = xx[0]; |
| 18296 | xx[1360] = xx[0]; |
| 18297 | xx[1361] = xx[0]; |
| 18298 | xx[1362] = xx[0]; |
| 18299 | xx[1363] = xx[0]; |
| 18300 | xx[1364] = xx[0]; |
| 18301 | xx[1365] = xx[0]; |
| 18302 | xx[1366] = xx[0]; |
| 18303 | xx[1367] = xx[0]; |
| 18304 | xx[1368] = xx[0]; |
| 18305 | xx[1369] = xx[0]; |
| 18306 | xx[1370] = - (xx[774] + xx[763] + (xx[895] - xx[672] * xx[889]) * xx[80]); |
| 18307 | xx[1371] = - (xx[787] + xx[168]); |
| 18308 | xx[1372] = - (xx[281] + xx[177]); |
| 18309 | xx[1373] = - ((xx[906] - xx[123] * xx[901] * xx[904]) * xx[80] + xx[909] + xx |
| 18310 | [102]); |
| 18311 | xx[1374] = xx[32] + xx[752] + (xx[761] * xx[24] + xx[926]) * xx[80]; |
| 18312 | xx[1375] = xx[923] + xx[184]; |
| 18313 | xx[1376] = xx[933] + xx[150]; |
| 18314 | xx[1377] = xx[198] + xx[28]; |
| 18315 | xx[1378] = xx[118] + xx[181]; |
| 18316 | xx[1379] = xx[929] + xx[939]; |
| 18317 | xx[1380] = xx[936] + xx[47]; |
| 18318 | xx[1381] = xx[105] + xx[162]; |
| 18319 | xx[1382] = xx[0]; |
| 18320 | xx[1383] = xx[0]; |
| 18321 | xx[1384] = xx[0]; |
| 18322 | xx[1385] = xx[0]; |
| 18323 | xx[1386] = (xx[4] * xx[38] + xx[213]) * xx[80] - xx[20] + (xx[216] * xx[34] + |
| 18324 | xx[171]) * xx[80] + xx[72]; |
| 18325 | xx[1387] = xx[0]; |
| 18326 | xx[1388] = xx[0]; |
| 18327 | xx[1389] = xx[0]; |
| 18328 | xx[1390] = xx[0]; |
| 18329 | xx[1391] = xx[0]; |
| 18330 | xx[1392] = xx[0]; |
| 18331 | xx[1393] = xx[0]; |
| 18332 | xx[1394] = xx[0]; |
| 18333 | xx[1395] = xx[0]; |
| 18334 | xx[1396] = xx[0]; |
| 18335 | xx[1397] = xx[0]; |
| 18336 | xx[1398] = xx[0]; |
| 18337 | xx[1399] = xx[0]; |
| 18338 | xx[1400] = xx[0]; |
| 18339 | xx[1401] = xx[0]; |
| 18340 | xx[1402] = xx[0]; |
| 18341 | xx[1403] = - (xx[775] + (xx[896] - xx[672] * xx[890]) * xx[80]); |
| 18342 | xx[1404] = - (xx[788] + xx[169]); |
| 18343 | xx[1405] = - (xx[282] + xx[178]); |
| 18344 | xx[1406] = - ((xx[901] * xx[298] + xx[907]) * xx[80] + xx[910]); |
| 18345 | xx[1407] = xx[33] + (xx[24] * xx[791] + xx[927]) * xx[80]; |
| 18346 | xx[1408] = xx[924] + xx[185]; |
| 18347 | xx[1409] = xx[934] + xx[151]; |
| 18348 | xx[1410] = xx[199] + xx[29]; |
| 18349 | xx[1411] = xx[119] + xx[182]; |
| 18350 | xx[1412] = xx[930] + xx[940]; |
| 18351 | xx[1413] = xx[937] + xx[48]; |
| 18352 | xx[1414] = xx[106] + xx[163]; |
| 18353 | xx[1415] = xx[0]; |
| 18354 | xx[1416] = xx[0]; |
| 18355 | xx[1417] = xx[0]; |
| 18356 | xx[1418] = xx[0]; |
| 18357 | xx[1419] = (xx[4] * xx[23] + xx[214]) * xx[80] + (xx[172] - xx[216] * xx[35]) * |
| 18358 | xx[80]; |
| 18359 | xx[1420] = xx[0]; |
| 18360 | xx[1421] = xx[0]; |
| 18361 | xx[1422] = xx[0]; |
| 18362 | xx[1423] = xx[0]; |
| 18363 | xx[1424] = xx[0]; |
| 18364 | xx[1425] = xx[0]; |
| 18365 | xx[1426] = xx[0]; |
| 18366 | xx[1427] = xx[0]; |
| 18367 | xx[1428] = xx[0]; |
| 18368 | xx[1429] = xx[0]; |
| 18369 | xx[1430] = xx[0]; |
| 18370 | xx[1431] = xx[0]; |
| 18371 | xx[1432] = xx[0]; |
| 18372 | xx[1433] = xx[0]; |
| 18373 | xx[1434] = xx[0]; |
| 18374 | xx[1435] = xx[0]; |
| 18375 | xx[27] = xx[165]; |
| 18376 | xx[28] = xx[283]; |
| 18377 | xx[29] = xx[174]; |
| 18378 | xx[30] = xx[284]; |
| 18379 | xx[0] = xx[250] * xx[122] - xx[89] * xx[245]; |
| 18380 | xx[1] = xx[122] * xx[256] + xx[89] * xx[244]; |
| 18381 | xx[3] = xx[122] * xx[244] - xx[89] * xx[256]; |
| 18382 | xx[4] = xx[250] * xx[89] + xx[122] * xx[245]; |
| 18383 | xx[31] = xx[0]; |
| 18384 | xx[32] = - xx[1]; |
| 18385 | xx[33] = xx[3]; |
| 18386 | xx[34] = xx[4]; |
| 18387 | pm_math_quatCompose(xx + 27, xx + 31, xx + 35); |
| 18388 | xx[12] = xx[3] * xx[857]; |
| 18389 | xx[18] = xx[857] * xx[1]; |
| 18390 | xx[22] = xx[80] * (xx[0] * xx[12] + xx[18] * xx[4]); |
| 18391 | xx[23] = xx[250] * xx[859]; |
| 18392 | xx[31] = xx[859] * xx[245]; |
| 18393 | xx[32] = xx[21] * xx[864]; |
| 18394 | xx[33] = xx[21] * xx[865]; |
| 18395 | xx[34] = xx[864] - (xx[21] * xx[32] - xx[25] * xx[33]) * xx[80]; |
| 18396 | xx[41] = xx[865] - xx[80] * (xx[25] * xx[32] + xx[21] * xx[33]); |
| 18397 | xx[32] = (xx[12] * xx[4] - xx[0] * xx[18]) * xx[80]; |
| 18398 | xx[0] = (xx[18] * xx[1] + xx[3] * xx[12]) * xx[80] - xx[857]; |
| 18399 | xx[46] = xx[22] + (xx[23] * xx[244] + xx[31] * xx[256]) * xx[80] + xx[34]; |
| 18400 | xx[47] = xx[80] * (xx[23] * xx[256] - xx[31] * xx[244]) + xx[41] - xx[32]; |
| 18401 | xx[48] = xx[0] + xx[859] - (xx[31] * xx[245] + xx[250] * xx[23]) * xx[80] + |
| 18402 | xx[866]; |
| 18403 | pm_math_cross3(xx + 46, xx + 267, xx + 49); |
| 18404 | pm_math_quatXform(xx + 35, xx + 49, xx + 46); |
| 18405 | xx[1] = xx[10] * xx[90]; |
| 18406 | xx[3] = xx[10] * xx[193]; |
| 18407 | xx[4] = xx[80] * xx[857] * (xx[174] * xx[1] - xx[165] * xx[3]); |
| 18408 | xx[12] = xx[266] - xx[278]; |
| 18409 | xx[49] = xx[34]; |
| 18410 | xx[50] = xx[41]; |
| 18411 | xx[51] = xx[866]; |
| 18412 | pm_math_cross3(xx + 49, xx + 126, xx + 53); |
| 18413 | pm_math_quatXform(xx + 271, xx + 53, xx + 49); |
| 18414 | xx[18] = xx[49] - xx[859] * xx[276]; |
| 18415 | xx[23] = xx[50] + xx[859] * xx[275]; |
| 18416 | xx[31] = xx[23] * xx[89] + xx[122] * xx[18]; |
| 18417 | xx[33] = xx[266] * xx[89] + xx[270] * xx[122]; |
| 18418 | xx[34] = xx[89] * xx[276] + xx[275] * xx[122]; |
| 18419 | xx[41] = (xx[276] + xx[80] * xx[33] * xx[89] - xx[80] * xx[34] * xx[89] - xx |
| 18420 | [266]) * xx[857]; |
| 18421 | xx[53] = xx[270] + xx[288]; |
| 18422 | xx[54] = (xx[275] + xx[80] * xx[33] * xx[122] - xx[80] * xx[34] * xx[122] + |
| 18423 | xx[59]) * xx[857]; |
| 18424 | xx[72] = xx[859] * xx[12] + xx[18] - xx[80] * xx[31] * xx[122] + xx[41]; |
| 18425 | xx[73] = xx[23] - xx[80] * xx[31] * xx[89] - xx[859] * xx[53] - xx[54]; |
| 18426 | xx[74] = xx[51] - (xx[89] * xx[89] * xx[51] + xx[51] * xx[122] * xx[122]) * |
| 18427 | xx[80]; |
| 18428 | pm_math_quatXform(xx + 27, xx + 72, xx + 49); |
| 18429 | xx[72] = xx[24]; |
| 18430 | xx[73] = xx[6]; |
| 18431 | xx[74] = xx[14]; |
| 18432 | xx[75] = xx[26]; |
| 18433 | xx[18] = xx[138] * xx[19] - xx[15] * xx[137]; |
| 18434 | xx[23] = xx[139] * xx[19] - xx[15] * xx[136]; |
| 18435 | xx[31] = xx[136] * xx[19] + xx[15] * xx[139]; |
| 18436 | xx[33] = xx[15] * xx[138] + xx[137] * xx[19]; |
| 18437 | xx[104] = - xx[18]; |
| 18438 | xx[105] = xx[23]; |
| 18439 | xx[106] = xx[31]; |
| 18440 | xx[107] = - xx[33]; |
| 18441 | pm_math_quatCompose(xx + 72, xx + 104, xx + 117); |
| 18442 | xx[34] = xx[31] * xx[816]; |
| 18443 | xx[55] = xx[816] * xx[23]; |
| 18444 | xx[59] = xx[80] * (xx[34] * xx[18] - xx[33] * xx[55]); |
| 18445 | xx[64] = xx[818] * xx[137]; |
| 18446 | xx[65] = xx[818] * xx[138]; |
| 18447 | xx[77] = xx[21] * xx[823]; |
| 18448 | xx[78] = xx[21] * xx[824]; |
| 18449 | xx[81] = xx[823] - (xx[21] * xx[77] - xx[25] * xx[78]) * xx[80]; |
| 18450 | xx[82] = xx[824] - xx[80] * (xx[25] * xx[77] + xx[21] * xx[78]); |
| 18451 | xx[83] = xx[825]; |
| 18452 | pm_math_quatInverseXform(xx + 97, xx + 81, xx + 77); |
| 18453 | pm_math_quatInverseXform(xx + 91, xx + 830, xx + 104); |
| 18454 | xx[87] = xx[57] * xx[834]; |
| 18455 | xx[96] = xx[87] * xx[76]; |
| 18456 | xx[102] = (xx[55] * xx[18] + xx[33] * xx[34]) * xx[80]; |
| 18457 | xx[18] = xx[816] - (xx[55] * xx[23] + xx[31] * xx[34]) * xx[80]; |
| 18458 | xx[23] = xx[63] * xx[834]; |
| 18459 | xx[149] = xx[59] + xx[80] * (xx[139] * xx[64] - xx[136] * xx[65]) + xx[77] + |
| 18460 | xx[104] + xx[80] * xx[96] * xx[76] - xx[87]; |
| 18461 | xx[150] = (xx[136] * xx[64] + xx[139] * xx[65]) * xx[80] + xx[78] + xx[105] - |
| 18462 | xx[80] * xx[52] * xx[96] - xx[102]; |
| 18463 | xx[151] = xx[18] + xx[818] - (xx[137] * xx[64] + xx[138] * xx[65]) * xx[80] + |
| 18464 | xx[79] + xx[106] - (xx[23] + xx[836]); |
| 18465 | pm_math_cross3(xx + 149, xx + 84, xx + 77); |
| 18466 | pm_math_quatXform(xx + 117, xx + 77, xx + 104); |
| 18467 | xx[31] = xx[6] * xx[10]; |
| 18468 | xx[33] = xx[26] * xx[10]; |
| 18469 | xx[34] = xx[80] * xx[816] * (xx[31] * xx[14] - xx[33] * xx[24]); |
| 18470 | xx[55] = xx[145] - xx[135]; |
| 18471 | xx[64] = xx[818] * xx[55]; |
| 18472 | pm_math_cross3(xx + 81, xx + 126, xx + 77); |
| 18473 | pm_math_quatXform(xx + 42, xx + 77, xx + 144); |
| 18474 | pm_math_cross3(xx + 830, xx + 112, xx + 77); |
| 18475 | pm_math_quatXform(xx + 68, xx + 77, xx + 149); |
| 18476 | xx[65] = xx[80] * xx[834] * xx[58]; |
| 18477 | xx[77] = xx[8] * xx[836] - xx[23] * xx[88]; |
| 18478 | xx[78] = xx[836] * xx[11] + xx[23] * xx[101] - xx[95] * xx[87]; |
| 18479 | xx[79] = xx[87] * xx[88]; |
| 18480 | pm_math_quatXform(xx + 140, xx + 77, xx + 153); |
| 18481 | pm_math_cross3(xx + 830, xx + 108, xx + 77); |
| 18482 | xx[58] = xx[61] - xx[67]; |
| 18483 | xx[61] = xx[834] * xx[58]; |
| 18484 | xx[67] = xx[80] * xx[103] * xx[834]; |
| 18485 | xx[156] = xx[65] + xx[153] + xx[77]; |
| 18486 | xx[157] = xx[61] + xx[154] + xx[78]; |
| 18487 | xx[158] = xx[155] - xx[67] + xx[79]; |
| 18488 | pm_math_quatXform(xx + 68, xx + 156, xx + 77); |
| 18489 | pm_math_cross3(xx + 81, xx + 132, xx + 153); |
| 18490 | xx[156] = xx[149] + xx[77] + xx[153]; |
| 18491 | xx[157] = xx[150] + xx[78] + xx[154]; |
| 18492 | xx[158] = xx[151] + xx[79] + xx[155]; |
| 18493 | pm_math_quatXform(xx + 42, xx + 156, xx + 77); |
| 18494 | xx[96] = xx[144] + xx[77] - xx[124] * xx[818]; |
| 18495 | xx[103] = xx[145] + xx[78] + xx[125] * xx[818]; |
| 18496 | xx[107] = xx[103] * xx[15] + xx[19] * xx[96]; |
| 18497 | xx[111] = xx[124] * xx[15] + xx[125] * xx[19]; |
| 18498 | xx[115] = xx[131] * xx[19] - xx[135] * xx[15]; |
| 18499 | xx[123] = xx[135] + xx[80] * xx[115] * xx[15]; |
| 18500 | xx[129] = xx[816] * (xx[124] - xx[80] * xx[111] * xx[15] + xx[123]); |
| 18501 | xx[135] = xx[152] - xx[131]; |
| 18502 | xx[131] = xx[818] * xx[135]; |
| 18503 | xx[147] = xx[80] * xx[115] * xx[19] + xx[9]; |
| 18504 | xx[9] = (xx[125] - xx[80] * xx[111] * xx[19] + xx[147]) * xx[816]; |
| 18505 | xx[77] = xx[146] + xx[79]; |
| 18506 | xx[152] = xx[64] + xx[96] - xx[80] * xx[107] * xx[19] - xx[129]; |
| 18507 | xx[153] = xx[131] + xx[103] - xx[80] * xx[107] * xx[15] + xx[9]; |
| 18508 | xx[154] = xx[77] - (xx[15] * xx[77] * xx[15] + xx[77] * xx[19] * xx[19]) * xx |
| 18509 | [80]; |
| 18510 | pm_math_quatXform(xx + 72, xx + 152, xx + 77); |
| 18511 | xx[96] = xx[857] * ((xx[3] * xx[193] + xx[1] * xx[90]) * xx[80] - xx[10]); |
| 18512 | xx[90] = xx[816] * (xx[10] - (xx[26] * xx[33] + xx[6] * xx[31]) * xx[80]); |
| 18513 | xx[6] = xx[80] * (xx[165] * xx[1] + xx[174] * xx[3]) * xx[857]; |
| 18514 | xx[1] = xx[80] * (xx[31] * xx[24] + xx[33] * xx[14]) * xx[816]; |
| 18515 | xx[152] = xx[5]; |
| 18516 | xx[153] = xx[262]; |
| 18517 | xx[154] = xx[311]; |
| 18518 | xx[155] = xx[387]; |
| 18519 | xx[3] = xx[393] * xx[383] - xx[313] * xx[391]; |
| 18520 | xx[14] = xx[383] * xx[398] + xx[313] * xx[306]; |
| 18521 | xx[24] = xx[383] * xx[306] - xx[313] * xx[398]; |
| 18522 | xx[26] = xx[393] * xx[313] + xx[383] * xx[391]; |
| 18523 | xx[156] = xx[3]; |
| 18524 | xx[157] = - xx[14]; |
| 18525 | xx[158] = xx[24]; |
| 18526 | xx[159] = xx[26]; |
| 18527 | pm_math_quatCompose(xx + 152, xx + 156, xx + 160); |
| 18528 | xx[31] = xx[393] * xx[848]; |
| 18529 | xx[33] = xx[848] * xx[391]; |
| 18530 | xx[103] = xx[21] * xx[853]; |
| 18531 | xx[107] = xx[21] * xx[854]; |
| 18532 | xx[111] = xx[853] - (xx[21] * xx[103] - xx[25] * xx[107]) * xx[80]; |
| 18533 | xx[115] = xx[846] * xx[14]; |
| 18534 | xx[156] = xx[24] * xx[846]; |
| 18535 | xx[157] = xx[80] * (xx[115] * xx[26] + xx[3] * xx[156]); |
| 18536 | xx[158] = (xx[156] * xx[26] - xx[3] * xx[115]) * xx[80]; |
| 18537 | xx[3] = xx[854] - xx[80] * (xx[25] * xx[103] + xx[21] * xx[107]); |
| 18538 | xx[26] = xx[846] - (xx[115] * xx[14] + xx[24] * xx[156]) * xx[80]; |
| 18539 | xx[164] = (xx[31] * xx[306] + xx[33] * xx[398]) * xx[80] + xx[111] - xx[157]; |
| 18540 | xx[165] = xx[158] + xx[80] * (xx[31] * xx[398] - xx[33] * xx[306]) + xx[3]; |
| 18541 | xx[166] = xx[26] + xx[848] - (xx[33] * xx[391] + xx[393] * xx[31]) * xx[80] + |
| 18542 | xx[855]; |
| 18543 | pm_math_cross3(xx + 164, xx + 267, xx + 167); |
| 18544 | pm_math_quatXform(xx + 160, xx + 167, xx + 164); |
| 18545 | xx[14] = xx[262] * xx[116]; |
| 18546 | xx[24] = xx[387] * xx[116]; |
| 18547 | xx[31] = xx[80] * xx[846] * (xx[14] * xx[311] - xx[24] * xx[5]); |
| 18548 | xx[33] = xx[410] - xx[413]; |
| 18549 | xx[167] = xx[111]; |
| 18550 | xx[168] = xx[3]; |
| 18551 | xx[169] = xx[855]; |
| 18552 | pm_math_cross3(xx + 167, xx + 126, xx + 170); |
| 18553 | pm_math_quatXform(xx + 428, xx + 170, xx + 167); |
| 18554 | xx[3] = xx[167] - xx[848] * xx[433]; |
| 18555 | xx[103] = xx[168] + xx[848] * xx[432]; |
| 18556 | xx[107] = xx[103] * xx[313] + xx[383] * xx[3]; |
| 18557 | xx[111] = xx[410] * xx[313] - xx[409] * xx[383]; |
| 18558 | xx[115] = xx[313] * xx[433] + xx[432] * xx[383]; |
| 18559 | xx[156] = (xx[433] + xx[80] * xx[111] * xx[313] - xx[80] * xx[115] * xx[313] - |
| 18560 | xx[410]) * xx[846]; |
| 18561 | xx[159] = xx[409] - xx[437]; |
| 18562 | xx[170] = (xx[432] + xx[80] * xx[111] * xx[383] - xx[80] * xx[115] * xx[383] + |
| 18563 | xx[39]) * xx[846]; |
| 18564 | xx[171] = xx[848] * xx[33] + xx[3] - xx[80] * xx[107] * xx[383] - xx[156]; |
| 18565 | xx[172] = xx[848] * xx[159] + xx[103] - xx[80] * xx[107] * xx[313] + xx[170]; |
| 18566 | xx[173] = xx[169] - (xx[313] * xx[313] * xx[169] + xx[169] * xx[383] * xx[383]) |
| 18567 | * xx[80]; |
| 18568 | pm_math_quatXform(xx + 152, xx + 171, xx + 167); |
| 18569 | xx[3] = xx[341] * xx[19] - xx[15] * xx[340]; |
| 18570 | xx[39] = xx[342] * xx[19] - xx[15] * xx[339]; |
| 18571 | xx[103] = xx[339] * xx[19] + xx[15] * xx[342]; |
| 18572 | xx[107] = xx[15] * xx[341] + xx[340] * xx[19]; |
| 18573 | xx[171] = - xx[3]; |
| 18574 | xx[172] = xx[39]; |
| 18575 | xx[173] = xx[103]; |
| 18576 | xx[174] = - xx[107]; |
| 18577 | pm_math_quatCompose(xx + 72, xx + 171, xx + 175); |
| 18578 | xx[111] = xx[103] * xx[816]; |
| 18579 | xx[115] = xx[816] * xx[39]; |
| 18580 | xx[171] = xx[80] * (xx[111] * xx[3] - xx[107] * xx[115]); |
| 18581 | xx[172] = xx[340] * xx[818]; |
| 18582 | xx[173] = xx[341] * xx[818]; |
| 18583 | pm_math_quatInverseXform(xx + 335, xx + 81, xx + 179); |
| 18584 | pm_math_quatInverseXform(xx + 331, xx + 830, xx + 182); |
| 18585 | xx[174] = xx[23] * xx[261]; |
| 18586 | xx[185] = xx[246] * xx[87] - xx[56] * xx[23]; |
| 18587 | xx[186] = xx[87] * xx[261]; |
| 18588 | xx[187] = - xx[174]; |
| 18589 | xx[188] = xx[185]; |
| 18590 | xx[189] = xx[186]; |
| 18591 | pm_math_cross3(xx + 300, xx + 187, xx + 190); |
| 18592 | xx[187] = (xx[115] * xx[3] + xx[107] * xx[111]) * xx[80]; |
| 18593 | xx[3] = xx[816] - (xx[115] * xx[39] + xx[103] * xx[111]) * xx[80]; |
| 18594 | xx[197] = xx[171] + xx[80] * (xx[342] * xx[172] - xx[339] * xx[173]) + xx[179] |
| 18595 | + xx[182] + xx[80] * (xx[190] + xx[174] * xx[62]) - xx[87]; |
| 18596 | xx[198] = (xx[339] * xx[172] + xx[342] * xx[173]) * xx[80] + xx[180] + xx[183] |
| 18597 | + xx[80] * (xx[191] - xx[62] * xx[185]) - xx[187]; |
| 18598 | xx[199] = xx[3] + xx[818] - (xx[340] * xx[172] + xx[341] * xx[173]) * xx[80] + |
| 18599 | xx[181] + xx[184] + (xx[192] - xx[186] * xx[62]) * xx[80] - xx[23] + xx[838]; |
| 18600 | pm_math_cross3(xx + 197, xx + 84, xx + 172); |
| 18601 | pm_math_quatXform(xx + 175, xx + 172, xx + 179); |
| 18602 | xx[172] = xx[305] * xx[838] - xx[344] * xx[23]; |
| 18603 | xx[173] = xx[255] * xx[838] + xx[87] * xx[243] - xx[23] * xx[238]; |
| 18604 | xx[174] = xx[80] * xx[254] * xx[838] + xx[344] * xx[87]; |
| 18605 | pm_math_quatXform(xx + 140, xx + 172, xx + 182); |
| 18606 | pm_math_cross3(xx + 830, xx + 324, xx + 172); |
| 18607 | xx[188] = xx[65] + xx[182] + xx[172]; |
| 18608 | xx[189] = xx[61] + xx[183] + xx[173]; |
| 18609 | xx[190] = xx[184] - xx[67] + xx[174]; |
| 18610 | pm_math_quatXform(xx + 68, xx + 188, xx + 172); |
| 18611 | pm_math_cross3(xx + 81, xx + 345, xx + 182); |
| 18612 | xx[188] = xx[149] + xx[172] + xx[182]; |
| 18613 | xx[189] = xx[150] + xx[173] + xx[183]; |
| 18614 | xx[190] = xx[151] + xx[174] + xx[184]; |
| 18615 | pm_math_quatXform(xx + 42, xx + 188, xx + 172); |
| 18616 | xx[39] = xx[144] + xx[172] - xx[343] * xx[818]; |
| 18617 | xx[103] = xx[145] + xx[173] + xx[349] * xx[818]; |
| 18618 | xx[107] = xx[103] * xx[15] + xx[19] * xx[39]; |
| 18619 | xx[111] = xx[343] * xx[15] + xx[349] * xx[19]; |
| 18620 | xx[115] = xx[816] * (xx[343] - xx[80] * xx[111] * xx[15] + xx[123]); |
| 18621 | xx[182] = (xx[349] - xx[80] * xx[111] * xx[19] + xx[147]) * xx[816]; |
| 18622 | xx[111] = xx[146] + xx[174]; |
| 18623 | xx[172] = xx[64] + xx[39] - xx[80] * xx[107] * xx[19] - xx[115]; |
| 18624 | xx[173] = xx[131] + xx[103] - xx[80] * xx[107] * xx[15] + xx[182]; |
| 18625 | xx[174] = xx[111] - (xx[15] * xx[111] * xx[15] + xx[111] * xx[19] * xx[19]) * |
| 18626 | xx[80]; |
| 18627 | pm_math_quatXform(xx + 72, xx + 172, xx + 183); |
| 18628 | xx[39] = xx[846] * (xx[116] - (xx[387] * xx[24] + xx[262] * xx[14]) * xx[80]); |
| 18629 | xx[103] = xx[80] * (xx[14] * xx[5] + xx[24] * xx[311]) * xx[846]; |
| 18630 | xx[188] = xx[451]; |
| 18631 | xx[189] = xx[458]; |
| 18632 | xx[190] = xx[534]; |
| 18633 | xx[191] = xx[585]; |
| 18634 | xx[5] = xx[558] * xx[399] - xx[452] * xx[544]; |
| 18635 | xx[14] = xx[399] * xx[560] + xx[452] * xx[513]; |
| 18636 | xx[24] = xx[399] * xx[513] - xx[452] * xx[560]; |
| 18637 | xx[107] = xx[558] * xx[452] + xx[399] * xx[544]; |
| 18638 | xx[197] = xx[5]; |
| 18639 | xx[198] = - xx[14]; |
| 18640 | xx[199] = xx[24]; |
| 18641 | xx[200] = xx[107]; |
| 18642 | pm_math_quatCompose(xx + 188, xx + 197, xx + 201); |
| 18643 | xx[111] = xx[24] * xx[868]; |
| 18644 | xx[116] = xx[868] * xx[14]; |
| 18645 | xx[172] = xx[80] * (xx[5] * xx[111] + xx[116] * xx[107]); |
| 18646 | xx[173] = xx[558] * xx[870]; |
| 18647 | xx[174] = xx[870] * xx[544]; |
| 18648 | xx[186] = xx[21] * xx[875]; |
| 18649 | xx[192] = xx[21] * xx[876]; |
| 18650 | xx[193] = xx[875] - (xx[21] * xx[186] - xx[25] * xx[192]) * xx[80]; |
| 18651 | xx[195] = xx[876] - xx[80] * (xx[25] * xx[186] + xx[21] * xx[192]); |
| 18652 | xx[186] = (xx[111] * xx[107] - xx[5] * xx[116]) * xx[80]; |
| 18653 | xx[5] = (xx[116] * xx[14] + xx[24] * xx[111]) * xx[80] - xx[868]; |
| 18654 | xx[197] = xx[172] + (xx[173] * xx[513] + xx[174] * xx[560]) * xx[80] + xx[193]; |
| 18655 | xx[198] = xx[80] * (xx[173] * xx[560] - xx[174] * xx[513]) + xx[195] - xx[186]; |
| 18656 | xx[199] = xx[5] + xx[870] - (xx[174] * xx[544] + xx[558] * xx[173]) * xx[80] + |
| 18657 | xx[877]; |
| 18658 | pm_math_cross3(xx + 197, xx + 267, xx + 205); |
| 18659 | pm_math_quatXform(xx + 201, xx + 205, xx + 197); |
| 18660 | xx[14] = xx[582] - xx[548]; |
| 18661 | xx[205] = xx[193]; |
| 18662 | xx[206] = xx[195]; |
| 18663 | xx[207] = xx[877]; |
| 18664 | pm_math_cross3(xx + 205, xx + 126, xx + 208); |
| 18665 | pm_math_quatXform(xx + 575, xx + 208, xx + 205); |
| 18666 | xx[24] = xx[205] - xx[870] * xx[580]; |
| 18667 | xx[107] = xx[206] + xx[870] * xx[579]; |
| 18668 | xx[111] = xx[107] * xx[452] + xx[399] * xx[24]; |
| 18669 | xx[116] = xx[547] * xx[399] - xx[548] * xx[452]; |
| 18670 | xx[173] = xx[452] * xx[580] + xx[579] * xx[399]; |
| 18671 | xx[174] = (xx[580] + xx[80] * xx[116] * xx[452] - xx[80] * xx[173] * xx[452] + |
| 18672 | xx[548]) * xx[868]; |
| 18673 | xx[192] = xx[589] - xx[547]; |
| 18674 | xx[193] = (xx[579] + xx[80] * xx[116] * xx[399] - xx[80] * xx[173] * xx[399] + |
| 18675 | xx[130]) * xx[868]; |
| 18676 | xx[208] = xx[870] * xx[14] + xx[24] - xx[80] * xx[111] * xx[399] + xx[174]; |
| 18677 | xx[209] = xx[870] * xx[192] + xx[107] - xx[80] * xx[111] * xx[452] - xx[193]; |
| 18678 | xx[210] = xx[207] - (xx[452] * xx[452] * xx[207] + xx[207] * xx[399] * xx[399]) |
| 18679 | * xx[80]; |
| 18680 | pm_math_quatXform(xx + 188, xx + 208, xx + 205); |
| 18681 | xx[24] = xx[10] * xx[458]; |
| 18682 | xx[107] = xx[10] * xx[543]; |
| 18683 | xx[111] = xx[80] * xx[868] * (xx[534] * xx[24] + xx[451] * xx[107]); |
| 18684 | xx[116] = xx[490] * xx[19] - xx[15] * xx[489]; |
| 18685 | xx[130] = xx[491] * xx[19] - xx[15] * xx[488]; |
| 18686 | xx[173] = xx[488] * xx[19] + xx[15] * xx[491]; |
| 18687 | xx[195] = xx[15] * xx[490] + xx[489] * xx[19]; |
| 18688 | xx[208] = - xx[116]; |
| 18689 | xx[209] = xx[130]; |
| 18690 | xx[210] = xx[173]; |
| 18691 | xx[211] = - xx[195]; |
| 18692 | pm_math_quatCompose(xx + 72, xx + 208, xx + 212); |
| 18693 | xx[200] = xx[173] * xx[816]; |
| 18694 | xx[208] = xx[816] * xx[130]; |
| 18695 | xx[209] = xx[80] * (xx[200] * xx[116] - xx[195] * xx[208]); |
| 18696 | xx[210] = xx[818] * xx[489]; |
| 18697 | xx[211] = xx[818] * xx[490]; |
| 18698 | pm_math_quatInverseXform(xx + 484, xx + 81, xx + 216); |
| 18699 | pm_math_quatInverseXform(xx + 480, xx + 830, xx + 219); |
| 18700 | xx[222] = xx[440] * xx[23]; |
| 18701 | xx[223] = xx[23] * xx[303] - xx[87] * xx[400]; |
| 18702 | xx[224] = xx[440] * xx[87]; |
| 18703 | xx[225] = xx[222]; |
| 18704 | xx[226] = xx[223]; |
| 18705 | xx[227] = - xx[224]; |
| 18706 | pm_math_cross3(xx + 441, xx + 225, xx + 228); |
| 18707 | xx[225] = (xx[208] * xx[116] + xx[195] * xx[200]) * xx[80]; |
| 18708 | xx[116] = xx[816] - (xx[208] * xx[130] + xx[173] * xx[200]) * xx[80]; |
| 18709 | xx[231] = xx[209] + xx[80] * (xx[491] * xx[210] - xx[488] * xx[211]) + xx[216] |
| 18710 | + xx[219] + xx[80] * (xx[228] + xx[397] * xx[222]) - xx[87]; |
| 18711 | xx[232] = (xx[488] * xx[210] + xx[491] * xx[211]) * xx[80] + xx[217] + xx[220] |
| 18712 | + xx[80] * (xx[229] + xx[397] * xx[223]) - xx[225]; |
| 18713 | xx[233] = xx[116] + xx[818] - (xx[489] * xx[210] + xx[490] * xx[211]) * xx[80] |
| 18714 | + xx[218] + xx[221] + (xx[230] - xx[397] * xx[224]) * xx[80] - xx[23] - xx |
| 18715 | [840]; |
| 18716 | pm_math_cross3(xx + 231, xx + 84, xx + 216); |
| 18717 | pm_math_quatXform(xx + 212, xx + 216, xx + 219); |
| 18718 | xx[216] = xx[457] * xx[840] - xx[493] * xx[23]; |
| 18719 | xx[217] = xx[401] * xx[840] + xx[23] * xx[13] + xx[87] * xx[314]; |
| 18720 | xx[218] = xx[80] * xx[327] * xx[840] + xx[493] * xx[87]; |
| 18721 | pm_math_quatXform(xx + 140, xx + 216, xx + 222); |
| 18722 | pm_math_cross3(xx + 830, xx + 454, xx + 216); |
| 18723 | xx[226] = xx[65] + xx[222] + xx[216]; |
| 18724 | xx[227] = xx[61] + xx[223] + xx[217]; |
| 18725 | xx[228] = xx[224] - xx[67] + xx[218]; |
| 18726 | pm_math_quatXform(xx + 68, xx + 226, xx + 216); |
| 18727 | pm_math_cross3(xx + 81, xx + 494, xx + 222); |
| 18728 | xx[226] = xx[149] + xx[216] + xx[222]; |
| 18729 | xx[227] = xx[150] + xx[217] + xx[223]; |
| 18730 | xx[228] = xx[151] + xx[218] + xx[224]; |
| 18731 | pm_math_quatXform(xx + 42, xx + 226, xx + 216); |
| 18732 | xx[130] = xx[144] + xx[216] - xx[492] * xx[818]; |
| 18733 | xx[173] = xx[145] + xx[217] + xx[498] * xx[818]; |
| 18734 | xx[195] = xx[173] * xx[15] + xx[19] * xx[130]; |
| 18735 | xx[200] = xx[492] * xx[15] + xx[498] * xx[19]; |
| 18736 | xx[208] = xx[816] * (xx[492] - xx[80] * xx[200] * xx[15] + xx[123]); |
| 18737 | xx[210] = (xx[498] - xx[80] * xx[200] * xx[19] + xx[147]) * xx[816]; |
| 18738 | xx[200] = xx[146] + xx[218]; |
| 18739 | xx[216] = xx[64] + xx[130] - xx[80] * xx[195] * xx[19] - xx[208]; |
| 18740 | xx[217] = xx[131] + xx[173] - xx[80] * xx[195] * xx[15] + xx[210]; |
| 18741 | xx[218] = xx[200] - (xx[15] * xx[200] * xx[15] + xx[200] * xx[19] * xx[19]) * |
| 18742 | xx[80]; |
| 18743 | pm_math_quatXform(xx + 72, xx + 216, xx + 222); |
| 18744 | xx[130] = xx[868] * ((xx[107] * xx[543] + xx[24] * xx[458]) * xx[80] - xx[10]); |
| 18745 | xx[173] = xx[80] * (xx[534] * xx[107] - xx[451] * xx[24]) * xx[868]; |
| 18746 | xx[226] = xx[604]; |
| 18747 | xx[227] = xx[733]; |
| 18748 | xx[228] = xx[677]; |
| 18749 | xx[229] = xx[678]; |
| 18750 | xx[24] = xx[706] * xx[532] - xx[605] * xx[686]; |
| 18751 | xx[107] = xx[532] * xx[708] + xx[605] * xx[670]; |
| 18752 | xx[195] = xx[532] * xx[670] - xx[605] * xx[708]; |
| 18753 | xx[200] = xx[706] * xx[605] + xx[532] * xx[686]; |
| 18754 | xx[230] = xx[24]; |
| 18755 | xx[231] = - xx[107]; |
| 18756 | xx[232] = xx[195]; |
| 18757 | xx[233] = xx[200]; |
| 18758 | pm_math_quatCompose(xx + 226, xx + 230, xx + 234); |
| 18759 | xx[211] = xx[195] * xx[879]; |
| 18760 | xx[216] = xx[879] * xx[107]; |
| 18761 | xx[217] = xx[80] * (xx[24] * xx[211] + xx[216] * xx[200]); |
| 18762 | xx[218] = xx[706] * xx[881]; |
| 18763 | xx[230] = xx[881] * xx[686]; |
| 18764 | xx[231] = xx[21] * xx[886]; |
| 18765 | xx[232] = xx[21] * xx[887]; |
| 18766 | xx[233] = xx[886] - (xx[21] * xx[231] - xx[25] * xx[232]) * xx[80]; |
| 18767 | xx[239] = xx[887] - xx[80] * (xx[25] * xx[231] + xx[21] * xx[232]); |
| 18768 | xx[231] = (xx[211] * xx[200] - xx[24] * xx[216]) * xx[80]; |
| 18769 | xx[24] = (xx[216] * xx[107] + xx[195] * xx[211]) * xx[80] - xx[879]; |
| 18770 | xx[240] = xx[217] + (xx[218] * xx[670] + xx[230] * xx[708]) * xx[80] + xx[233]; |
| 18771 | xx[241] = xx[80] * (xx[218] * xx[708] - xx[230] * xx[670]) + xx[239] - xx[231]; |
| 18772 | xx[242] = xx[24] + xx[881] - (xx[230] * xx[686] + xx[706] * xx[218]) * xx[80] |
| 18773 | + xx[888]; |
| 18774 | pm_math_cross3(xx + 240, xx + 267, xx + 247); |
| 18775 | pm_math_quatXform(xx + 234, xx + 247, xx + 240); |
| 18776 | xx[107] = xx[10] * xx[612]; |
| 18777 | xx[195] = xx[10] * xx[678]; |
| 18778 | xx[200] = xx[80] * xx[879] * (xx[677] * xx[107] + xx[604] * xx[195]); |
| 18779 | xx[211] = xx[731] - xx[685]; |
| 18780 | xx[247] = xx[233]; |
| 18781 | xx[248] = xx[239]; |
| 18782 | xx[249] = xx[888]; |
| 18783 | pm_math_cross3(xx + 247, xx + 126, xx + 251); |
| 18784 | pm_math_quatXform(xx + 725, xx + 251, xx + 247); |
| 18785 | xx[216] = xx[247] - xx[881] * xx[730]; |
| 18786 | xx[218] = xx[248] + xx[881] * xx[729]; |
| 18787 | xx[230] = xx[218] * xx[605] + xx[532] * xx[216]; |
| 18788 | xx[232] = xx[684] * xx[532] - xx[685] * xx[605]; |
| 18789 | xx[233] = xx[605] * xx[730] + xx[729] * xx[532]; |
| 18790 | xx[239] = (xx[730] + xx[80] * xx[232] * xx[605] - xx[80] * xx[233] * xx[605] + |
| 18791 | xx[685]) * xx[879]; |
| 18792 | xx[251] = xx[737] - xx[684]; |
| 18793 | xx[252] = (xx[729] + xx[80] * xx[232] * xx[532] - xx[80] * xx[233] * xx[532] + |
| 18794 | xx[196]) * xx[879]; |
| 18795 | xx[258] = xx[881] * xx[211] + xx[216] - xx[80] * xx[230] * xx[532] + xx[239]; |
| 18796 | xx[259] = xx[881] * xx[251] + xx[218] - xx[80] * xx[230] * xx[605] - xx[252]; |
| 18797 | xx[260] = xx[249] - (xx[605] * xx[605] * xx[249] + xx[249] * xx[532] * xx[532]) |
| 18798 | * xx[80]; |
| 18799 | pm_math_quatXform(xx + 226, xx + 258, xx + 247); |
| 18800 | xx[196] = xx[640] * xx[19] - xx[15] * xx[639]; |
| 18801 | xx[216] = xx[641] * xx[19] - xx[15] * xx[638]; |
| 18802 | xx[218] = xx[638] * xx[19] + xx[15] * xx[641]; |
| 18803 | xx[230] = xx[15] * xx[640] + xx[639] * xx[19]; |
| 18804 | xx[262] = - xx[196]; |
| 18805 | xx[263] = xx[216]; |
| 18806 | xx[264] = xx[218]; |
| 18807 | xx[265] = - xx[230]; |
| 18808 | pm_math_quatCompose(xx + 72, xx + 262, xx + 277); |
| 18809 | xx[232] = xx[218] * xx[816]; |
| 18810 | xx[233] = xx[816] * xx[216]; |
| 18811 | xx[253] = xx[80] * (xx[232] * xx[196] - xx[230] * xx[233]); |
| 18812 | xx[254] = xx[818] * xx[639]; |
| 18813 | xx[258] = xx[818] * xx[640]; |
| 18814 | pm_math_quatInverseXform(xx + 630, xx + 81, xx + 262); |
| 18815 | pm_math_quatInverseXform(xx + 626, xx + 830, xx + 281); |
| 18816 | xx[259] = xx[546] * xx[23]; |
| 18817 | xx[260] = xx[23] * xx[379] - xx[87] * xx[473]; |
| 18818 | xx[265] = xx[546] * xx[87]; |
| 18819 | xx[284] = - xx[259]; |
| 18820 | xx[285] = xx[260]; |
| 18821 | xx[286] = xx[265]; |
| 18822 | pm_math_cross3(xx + 601, xx + 284, xx + 287); |
| 18823 | xx[266] = (xx[233] * xx[196] + xx[230] * xx[232]) * xx[80]; |
| 18824 | xx[196] = xx[816] - (xx[233] * xx[216] + xx[218] * xx[232]) * xx[80]; |
| 18825 | xx[284] = xx[253] + xx[80] * (xx[641] * xx[254] - xx[638] * xx[258]) + xx[262] |
| 18826 | + xx[281] + xx[80] * (xx[287] + xx[312] * xx[259]) - xx[87]; |
| 18827 | xx[285] = (xx[638] * xx[254] + xx[641] * xx[258]) * xx[80] + xx[263] + xx[282] |
| 18828 | + xx[80] * (xx[288] - xx[312] * xx[260]) - xx[266]; |
| 18829 | xx[286] = xx[196] + xx[818] - (xx[639] * xx[254] + xx[640] * xx[258]) * xx[80] |
| 18830 | + xx[264] + xx[283] + (xx[289] - xx[312] * xx[265]) * xx[80] - xx[23] - xx |
| 18831 | [842]; |
| 18832 | pm_math_cross3(xx + 284, xx + 84, xx + 258); |
| 18833 | pm_math_quatXform(xx + 277, xx + 258, xx + 262); |
| 18834 | xx[258] = xx[611] * xx[842] - xx[635] * xx[23]; |
| 18835 | xx[259] = xx[535] * xx[842] + xx[23] * xx[463] + xx[87] * xx[446]; |
| 18836 | xx[260] = xx[80] * xx[506] * xx[842] + xx[635] * xx[87]; |
| 18837 | pm_math_quatXform(xx + 140, xx + 258, xx + 281); |
| 18838 | pm_math_cross3(xx + 830, xx + 595, xx + 258); |
| 18839 | xx[284] = xx[65] + xx[281] + xx[258]; |
| 18840 | xx[285] = xx[61] + xx[282] + xx[259]; |
| 18841 | xx[286] = xx[283] - xx[67] + xx[260]; |
| 18842 | pm_math_quatXform(xx + 68, xx + 284, xx + 258); |
| 18843 | pm_math_cross3(xx + 81, xx + 644, xx + 281); |
| 18844 | xx[284] = xx[149] + xx[258] + xx[281]; |
| 18845 | xx[285] = xx[150] + xx[259] + xx[282]; |
| 18846 | xx[286] = xx[151] + xx[260] + xx[283]; |
| 18847 | pm_math_quatXform(xx + 42, xx + 284, xx + 258); |
| 18848 | xx[216] = xx[144] + xx[258] - xx[634] * xx[818]; |
| 18849 | xx[218] = xx[145] + xx[259] + xx[636] * xx[818]; |
| 18850 | xx[230] = xx[218] * xx[15] + xx[19] * xx[216]; |
| 18851 | xx[232] = xx[634] * xx[15] + xx[636] * xx[19]; |
| 18852 | xx[233] = xx[816] * (xx[634] - xx[80] * xx[232] * xx[15] + xx[123]); |
| 18853 | xx[254] = (xx[636] - xx[80] * xx[232] * xx[19] + xx[147]) * xx[816]; |
| 18854 | xx[232] = xx[146] + xx[260]; |
| 18855 | xx[258] = xx[64] + xx[216] - xx[80] * xx[230] * xx[19] - xx[233]; |
| 18856 | xx[259] = xx[131] + xx[218] - xx[80] * xx[230] * xx[15] + xx[254]; |
| 18857 | xx[260] = xx[232] - (xx[15] * xx[232] * xx[15] + xx[232] * xx[19] * xx[19]) * |
| 18858 | xx[80]; |
| 18859 | pm_math_quatXform(xx + 72, xx + 258, xx + 281); |
| 18860 | xx[216] = xx[879] * ((xx[195] * xx[678] + xx[107] * xx[612]) * xx[80] - xx[10]); |
| 18861 | xx[218] = xx[80] * (xx[604] * xx[107] - xx[677] * xx[195]) * xx[879]; |
| 18862 | xx[284] = xx[672]; |
| 18863 | xx[285] = xx[784]; |
| 18864 | xx[286] = xx[741]; |
| 18865 | xx[287] = xx[785]; |
| 18866 | xx[107] = xx[745] * xx[643] - xx[660] * xx[743]; |
| 18867 | xx[195] = xx[643] * xx[753] + xx[660] * xx[720]; |
| 18868 | xx[230] = xx[643] * xx[720] - xx[660] * xx[753]; |
| 18869 | xx[232] = xx[745] * xx[660] + xx[643] * xx[743]; |
| 18870 | xx[288] = xx[107]; |
| 18871 | xx[289] = - xx[195]; |
| 18872 | xx[290] = xx[230]; |
| 18873 | xx[291] = xx[232]; |
| 18874 | pm_math_quatCompose(xx + 284, xx + 288, xx + 292); |
| 18875 | xx[258] = xx[230] * xx[805]; |
| 18876 | xx[259] = xx[805] * xx[195]; |
| 18877 | xx[260] = xx[80] * (xx[107] * xx[258] + xx[259] * xx[232]); |
| 18878 | xx[265] = xx[745] * xx[807]; |
| 18879 | xx[270] = xx[807] * xx[743]; |
| 18880 | xx[288] = xx[21] * xx[812]; |
| 18881 | xx[289] = xx[21] * xx[813]; |
| 18882 | xx[290] = xx[812] - (xx[21] * xx[288] - xx[25] * xx[289]) * xx[80]; |
| 18883 | xx[291] = xx[813] - xx[80] * (xx[25] * xx[288] + xx[21] * xx[289]); |
| 18884 | xx[288] = (xx[258] * xx[232] - xx[107] * xx[259]) * xx[80]; |
| 18885 | xx[107] = (xx[259] * xx[195] + xx[230] * xx[258]) * xx[80] - xx[805]; |
| 18886 | xx[296] = xx[260] + (xx[265] * xx[720] + xx[270] * xx[753]) * xx[80] + xx[290]; |
| 18887 | xx[297] = xx[80] * (xx[265] * xx[753] - xx[270] * xx[720]) + xx[291] - xx[288]; |
| 18888 | xx[298] = xx[107] + xx[807] - (xx[270] * xx[743] + xx[745] * xx[265]) * xx[80] |
| 18889 | + xx[814]; |
| 18890 | pm_math_cross3(xx + 296, xx + 267, xx + 307); |
| 18891 | pm_math_quatXform(xx + 292, xx + 307, xx + 296); |
| 18892 | xx[195] = xx[10] * xx[671]; |
| 18893 | xx[230] = xx[10] * xx[742]; |
| 18894 | xx[232] = xx[80] * xx[805] * (xx[741] * xx[195] - xx[672] * xx[230]); |
| 18895 | xx[307] = xx[290]; |
| 18896 | xx[308] = xx[291]; |
| 18897 | xx[309] = xx[814]; |
| 18898 | pm_math_cross3(xx + 307, xx + 126, xx + 289); |
| 18899 | pm_math_quatXform(xx + 777, xx + 289, xx + 307); |
| 18900 | xx[258] = xx[307] - xx[807] * xx[782]; |
| 18901 | xx[259] = xx[308] + xx[807] * xx[781]; |
| 18902 | xx[265] = xx[259] * xx[660] + xx[643] * xx[258]; |
| 18903 | xx[270] = xx[747] + xx[776]; |
| 18904 | xx[289] = xx[747] * xx[660] + xx[746] * xx[643]; |
| 18905 | xx[290] = xx[660] * xx[782] + xx[781] * xx[643]; |
| 18906 | xx[291] = (xx[782] - xx[80] * xx[289] * xx[660] - xx[80] * xx[290] * xx[660] + |
| 18907 | xx[747]) * xx[805]; |
| 18908 | xx[299] = xx[746] - xx[789]; |
| 18909 | xx[304] = (xx[781] - xx[80] * xx[289] * xx[643] - xx[80] * xx[290] * xx[643] + |
| 18910 | xx[194]) * xx[805]; |
| 18911 | xx[315] = xx[258] - xx[80] * xx[265] * xx[643] - xx[807] * xx[270] + xx[291]; |
| 18912 | xx[316] = xx[807] * xx[299] + xx[259] - xx[80] * xx[265] * xx[660] - xx[304]; |
| 18913 | xx[317] = xx[309] - (xx[660] * xx[660] * xx[309] + xx[309] * xx[643] * xx[643]) |
| 18914 | * xx[80]; |
| 18915 | pm_math_quatXform(xx + 284, xx + 315, xx + 307); |
| 18916 | xx[194] = xx[917] * xx[19] - xx[15] * xx[916]; |
| 18917 | xx[258] = xx[918] * xx[19] - xx[15] * xx[915]; |
| 18918 | xx[259] = xx[915] * xx[19] + xx[15] * xx[918]; |
| 18919 | xx[265] = xx[15] * xx[917] + xx[916] * xx[19]; |
| 18920 | xx[315] = - xx[194]; |
| 18921 | xx[316] = xx[258]; |
| 18922 | xx[317] = xx[259]; |
| 18923 | xx[318] = - xx[265]; |
| 18924 | pm_math_quatCompose(xx + 72, xx + 315, xx + 319); |
| 18925 | xx[289] = xx[259] * xx[816]; |
| 18926 | xx[290] = xx[816] * xx[258]; |
| 18927 | xx[310] = xx[80] * (xx[289] * xx[194] - xx[265] * xx[290]); |
| 18928 | xx[311] = xx[818] * xx[916]; |
| 18929 | xx[315] = xx[818] * xx[917]; |
| 18930 | pm_math_quatInverseXform(xx + 911, xx + 81, xx + 316); |
| 18931 | pm_math_quatInverseXform(xx + 897, xx + 830, xx + 327); |
| 18932 | xx[323] = xx[87] * xx[637]; |
| 18933 | xx[330] = (xx[290] * xx[194] + xx[265] * xx[289]) * xx[80]; |
| 18934 | xx[194] = xx[816] - (xx[290] * xx[258] + xx[259] * xx[289]) * xx[80]; |
| 18935 | xx[350] = xx[310] + xx[80] * (xx[918] * xx[311] - xx[915] * xx[315]) + xx[316] |
| 18936 | + xx[327] + xx[80] * xx[323] * xx[637] - xx[87]; |
| 18937 | xx[351] = (xx[915] * xx[311] + xx[918] * xx[315]) * xx[80] + xx[317] + xx[328] |
| 18938 | - xx[80] * xx[2] * xx[323] - xx[330]; |
| 18939 | xx[352] = xx[194] + xx[818] - (xx[916] * xx[311] + xx[917] * xx[315]) * xx[80] |
| 18940 | + xx[318] + xx[329] - (xx[23] + xx[844]); |
| 18941 | pm_math_cross3(xx + 350, xx + 84, xx + 315); |
| 18942 | pm_math_quatXform(xx + 319, xx + 315, xx + 327); |
| 18943 | xx[315] = xx[17] * xx[844] - xx[23] * xx[66]; |
| 18944 | xx[316] = - (xx[844] * xx[20] + xx[23] * xx[707] + xx[790] * xx[87]); |
| 18945 | xx[317] = xx[87] * xx[66]; |
| 18946 | pm_math_quatXform(xx + 140, xx + 315, xx + 350); |
| 18947 | pm_math_cross3(xx + 830, xx + 891, xx + 315); |
| 18948 | xx[353] = xx[65] + xx[350] + xx[315]; |
| 18949 | xx[354] = xx[61] + xx[351] + xx[316]; |
| 18950 | xx[355] = xx[352] - xx[67] + xx[317]; |
| 18951 | pm_math_quatXform(xx + 68, xx + 353, xx + 315); |
| 18952 | pm_math_cross3(xx + 81, xx + 919, xx + 350); |
| 18953 | xx[81] = xx[149] + xx[315] + xx[350]; |
| 18954 | xx[82] = xx[150] + xx[316] + xx[351]; |
| 18955 | xx[83] = xx[151] + xx[317] + xx[352]; |
| 18956 | pm_math_quatXform(xx + 42, xx + 81, xx + 149); |
| 18957 | xx[23] = xx[144] + xx[149] - xx[121] * xx[818]; |
| 18958 | xx[61] = xx[145] + xx[150] + xx[148] * xx[818]; |
| 18959 | xx[65] = xx[61] * xx[15] + xx[19] * xx[23]; |
| 18960 | xx[67] = xx[121] * xx[15] + xx[148] * xx[19]; |
| 18961 | xx[81] = xx[816] * (xx[121] - xx[80] * xx[67] * xx[15] + xx[123]); |
| 18962 | xx[82] = (xx[148] - xx[80] * xx[67] * xx[19] + xx[147]) * xx[816]; |
| 18963 | xx[67] = xx[146] + xx[151]; |
| 18964 | xx[144] = xx[64] + xx[23] - xx[80] * xx[65] * xx[19] - xx[81]; |
| 18965 | xx[145] = xx[131] + xx[61] - xx[80] * xx[65] * xx[15] + xx[82]; |
| 18966 | xx[146] = xx[67] - (xx[15] * xx[67] * xx[15] + xx[67] * xx[19] * xx[19]) * xx |
| 18967 | [80]; |
| 18968 | pm_math_quatXform(xx + 72, xx + 144, xx + 149); |
| 18969 | xx[23] = xx[805] * ((xx[230] * xx[742] + xx[195] * xx[671]) * xx[80] - xx[10]); |
| 18970 | xx[10] = xx[80] * (xx[672] * xx[195] + xx[741] * xx[230]) * xx[805]; |
| 18971 | xx[350] = xx[46] + xx[4] + xx[49] - (xx[104] + xx[34] + xx[77]); |
| 18972 | xx[351] = xx[47] + xx[96] + xx[50] - (xx[105] + xx[90] + xx[78]); |
| 18973 | xx[352] = xx[48] + xx[6] + xx[51] - (xx[106] + xx[1] + xx[79]); |
| 18974 | xx[353] = xx[164] + xx[31] + xx[167] - (xx[179] + xx[34] + xx[183]); |
| 18975 | xx[354] = xx[165] + xx[39] + xx[168] - (xx[180] + xx[90] + xx[184]); |
| 18976 | xx[355] = xx[166] + xx[103] + xx[169] - (xx[181] + xx[1] + xx[185]); |
| 18977 | xx[356] = xx[197] + xx[205] - xx[111] - (xx[219] + xx[34] + xx[222]); |
| 18978 | xx[357] = xx[198] + xx[130] + xx[206] - (xx[220] + xx[90] + xx[223]); |
| 18979 | xx[358] = xx[199] + xx[173] + xx[207] - (xx[221] + xx[1] + xx[224]); |
| 18980 | xx[359] = xx[240] + xx[200] + xx[247] - (xx[262] + xx[34] + xx[281]); |
| 18981 | xx[360] = xx[241] + xx[216] + xx[248] - (xx[263] + xx[90] + xx[282]); |
| 18982 | xx[361] = xx[242] + xx[218] + xx[249] - (xx[264] + xx[1] + xx[283]); |
| 18983 | xx[362] = xx[296] + xx[232] + xx[307] - (xx[327] + xx[34] + xx[149]); |
| 18984 | xx[363] = xx[297] + xx[23] + xx[308] - (xx[328] + xx[90] + xx[150]); |
| 18985 | xx[364] = xx[298] + xx[10] + xx[309] - (xx[329] + xx[1] + xx[151]); |
| 18986 | memcpy(xx + 1469, xx + 941, 495 * sizeof(double)); |
| 18987 | factorAndSolveWide(15, 33, xx + 1469, xx + 402, xx + 514, ii + 0, xx + 350, |
| 18988 | xx[16], xx + 1436); |
| 18989 | xx[16] = xx[807] + xx[1436]; |
| 18990 | xx[46] = xx[812] + xx[1437]; |
| 18991 | xx[47] = xx[813] + xx[1438]; |
| 18992 | xx[48] = xx[814] + xx[1439]; |
| 18993 | xx[49] = xx[818] + xx[1440]; |
| 18994 | xx[50] = xx[823] + xx[1441]; |
| 18995 | xx[51] = xx[824] + xx[1442]; |
| 18996 | xx[61] = xx[825] + xx[1443]; |
| 18997 | xx[64] = xx[830] + xx[1444]; |
| 18998 | xx[65] = xx[831] + xx[1445]; |
| 18999 | xx[67] = xx[832] + xx[1446]; |
| 19000 | xx[77] = xx[834] + xx[1447]; |
| 19001 | xx[78] = xx[836] + xx[1448]; |
| 19002 | xx[79] = xx[838] + xx[1449]; |
| 19003 | xx[83] = xx[840] + xx[1450]; |
| 19004 | xx[87] = xx[842] + xx[1451]; |
| 19005 | xx[104] = xx[844] + xx[1452]; |
| 19006 | xx[105] = xx[848] + xx[1453]; |
| 19007 | xx[106] = xx[853] + xx[1454]; |
| 19008 | xx[123] = xx[854] + xx[1455]; |
| 19009 | xx[131] = xx[855] + xx[1456]; |
| 19010 | xx[144] = xx[859] + xx[1457]; |
| 19011 | xx[145] = xx[864] + xx[1458]; |
| 19012 | xx[146] = xx[865] + xx[1459]; |
| 19013 | xx[147] = xx[866] + xx[1460]; |
| 19014 | xx[149] = xx[870] + xx[1461]; |
| 19015 | xx[150] = xx[875] + xx[1462]; |
| 19016 | xx[151] = xx[876] + xx[1463]; |
| 19017 | xx[164] = xx[877] + xx[1464]; |
| 19018 | xx[165] = xx[881] + xx[1465]; |
| 19019 | xx[166] = xx[886] + xx[1466]; |
| 19020 | xx[167] = xx[887] + xx[1467]; |
| 19021 | xx[168] = xx[888] + xx[1468]; |
| 19022 | xx[922] = xx[792]; |
| 19023 | xx[923] = xx[793]; |
| 19024 | xx[924] = xx[794]; |
| 19025 | xx[925] = xx[795]; |
| 19026 | xx[926] = xx[796]; |
| 19027 | xx[927] = xx[797]; |
| 19028 | xx[928] = xx[798]; |
| 19029 | xx[929] = xx[799]; |
| 19030 | xx[930] = xx[800]; |
| 19031 | xx[931] = xx[801]; |
| 19032 | xx[932] = xx[802]; |
| 19033 | xx[933] = xx[803]; |
| 19034 | xx[934] = xx[804]; |
| 19035 | xx[935] = xx[805]; |
| 19036 | xx[936] = xx[806]; |
| 19037 | xx[937] = xx[16]; |
| 19038 | xx[938] = xx[808]; |
| 19039 | xx[939] = xx[809]; |
| 19040 | xx[940] = xx[810]; |
| 19041 | xx[941] = xx[811]; |
| 19042 | xx[942] = xx[46]; |
| 19043 | xx[943] = xx[47]; |
| 19044 | xx[944] = xx[48]; |
| 19045 | xx[945] = xx[815]; |
| 19046 | xx[946] = xx[816]; |
| 19047 | xx[947] = xx[817]; |
| 19048 | xx[948] = xx[49]; |
| 19049 | xx[949] = xx[819]; |
| 19050 | xx[950] = xx[820]; |
| 19051 | xx[951] = xx[821]; |
| 19052 | xx[952] = xx[822]; |
| 19053 | xx[953] = xx[50]; |
| 19054 | xx[954] = xx[51]; |
| 19055 | xx[955] = xx[61]; |
| 19056 | xx[956] = xx[826]; |
| 19057 | xx[957] = xx[827]; |
| 19058 | xx[958] = xx[828]; |
| 19059 | xx[959] = xx[829]; |
| 19060 | xx[960] = xx[64]; |
| 19061 | xx[961] = xx[65]; |
| 19062 | xx[962] = xx[67]; |
| 19063 | xx[963] = xx[833]; |
| 19064 | xx[964] = xx[77]; |
| 19065 | xx[965] = xx[835]; |
| 19066 | xx[966] = xx[78]; |
| 19067 | xx[967] = xx[837]; |
| 19068 | xx[968] = xx[79]; |
| 19069 | xx[969] = xx[839]; |
| 19070 | xx[970] = xx[83]; |
| 19071 | xx[971] = xx[841]; |
| 19072 | xx[972] = xx[87]; |
| 19073 | xx[973] = xx[843]; |
| 19074 | xx[974] = xx[104]; |
| 19075 | xx[975] = xx[845]; |
| 19076 | xx[976] = xx[846]; |
| 19077 | xx[977] = xx[847]; |
| 19078 | xx[978] = xx[105]; |
| 19079 | xx[979] = xx[849]; |
| 19080 | xx[980] = xx[850]; |
| 19081 | xx[981] = xx[851]; |
| 19082 | xx[982] = xx[852]; |
| 19083 | xx[983] = xx[106]; |
| 19084 | xx[984] = xx[123]; |
| 19085 | xx[985] = xx[131]; |
| 19086 | xx[986] = xx[856]; |
| 19087 | xx[987] = xx[857]; |
| 19088 | xx[988] = xx[858]; |
| 19089 | xx[989] = xx[144]; |
| 19090 | xx[990] = xx[860]; |
| 19091 | xx[991] = xx[861]; |
| 19092 | xx[992] = xx[862]; |
| 19093 | xx[993] = xx[863]; |
| 19094 | xx[994] = xx[145]; |
| 19095 | xx[995] = xx[146]; |
| 19096 | xx[996] = xx[147]; |
| 19097 | xx[997] = xx[867]; |
| 19098 | xx[998] = xx[868]; |
| 19099 | xx[999] = xx[869]; |
| 19100 | xx[1000] = xx[149]; |
| 19101 | xx[1001] = xx[871]; |
| 19102 | xx[1002] = xx[872]; |
| 19103 | xx[1003] = xx[873]; |
| 19104 | xx[1004] = xx[874]; |
| 19105 | xx[1005] = xx[150]; |
| 19106 | xx[1006] = xx[151]; |
| 19107 | xx[1007] = xx[164]; |
| 19108 | xx[1008] = xx[878]; |
| 19109 | xx[1009] = xx[879]; |
| 19110 | xx[1010] = xx[880]; |
| 19111 | xx[1011] = xx[165]; |
| 19112 | xx[1012] = xx[882]; |
| 19113 | xx[1013] = xx[883]; |
| 19114 | xx[1014] = xx[884]; |
| 19115 | xx[1015] = xx[885]; |
| 19116 | xx[1016] = xx[166]; |
| 19117 | xx[1017] = xx[167]; |
| 19118 | xx[1018] = xx[168]; |
| 19119 | xx[169] = xx[49] * xx[137]; |
| 19120 | xx[179] = xx[49] * xx[138]; |
| 19121 | xx[180] = xx[50] * xx[21]; |
| 19122 | xx[181] = xx[51] * xx[21]; |
| 19123 | xx[183] = xx[50] - (xx[21] * xx[180] - xx[25] * xx[181]) * xx[80]; |
| 19124 | xx[184] = xx[51] - xx[80] * (xx[25] * xx[180] + xx[21] * xx[181]); |
| 19125 | xx[185] = xx[61]; |
| 19126 | pm_math_quatInverseXform(xx + 97, xx + 183, xx + 197); |
| 19127 | xx[97] = xx[64]; |
| 19128 | xx[98] = xx[65]; |
| 19129 | xx[99] = xx[67]; |
| 19130 | pm_math_quatInverseXform(xx + 91, xx + 97, xx + 205); |
| 19131 | xx[50] = xx[77] * xx[57]; |
| 19132 | xx[51] = xx[50] * xx[76]; |
| 19133 | xx[57] = xx[77] * xx[63]; |
| 19134 | xx[63] = xx[59] + xx[80] * (xx[139] * xx[169] - xx[136] * xx[179]) + xx[197] + |
| 19135 | xx[205] + xx[80] * xx[51] * xx[76] - xx[50]; |
| 19136 | xx[64] = (xx[136] * xx[169] + xx[139] * xx[179]) * xx[80] + xx[198] + xx[206] |
| 19137 | - xx[80] * xx[52] * xx[51] - xx[102]; |
| 19138 | xx[65] = xx[18] + xx[49] - (xx[137] * xx[169] + xx[138] * xx[179]) * xx[80] + |
| 19139 | xx[199] + xx[207] - (xx[57] + xx[78]); |
| 19140 | pm_math_cross3(xx + 63, xx + 84, xx + 91); |
| 19141 | pm_math_quatXform(xx + 117, xx + 91, xx + 63); |
| 19142 | xx[18] = xx[49] * xx[55]; |
| 19143 | pm_math_cross3(xx + 183, xx + 126, xx + 91); |
| 19144 | pm_math_quatXform(xx + 42, xx + 91, xx + 117); |
| 19145 | pm_math_cross3(xx + 97, xx + 112, xx + 91); |
| 19146 | pm_math_quatXform(xx + 68, xx + 91, xx + 112); |
| 19147 | xx[51] = xx[77] * xx[60]; |
| 19148 | xx[59] = xx[8] * xx[78] - xx[57] * xx[88]; |
| 19149 | xx[60] = xx[78] * xx[11] + xx[57] * xx[101] - xx[95] * xx[50]; |
| 19150 | xx[61] = xx[50] * xx[88]; |
| 19151 | pm_math_quatXform(xx + 140, xx + 59, xx + 91); |
| 19152 | pm_math_cross3(xx + 97, xx + 108, xx + 59); |
| 19153 | xx[8] = xx[77] * xx[58]; |
| 19154 | xx[11] = xx[77] * xx[40]; |
| 19155 | xx[76] = xx[51] + xx[91] + xx[59]; |
| 19156 | xx[77] = xx[8] + xx[92] + xx[60]; |
| 19157 | xx[78] = xx[93] - xx[11] + xx[61]; |
| 19158 | pm_math_quatXform(xx + 68, xx + 76, xx + 58); |
| 19159 | pm_math_cross3(xx + 183, xx + 132, xx + 76); |
| 19160 | xx[91] = xx[112] + xx[58] + xx[76]; |
| 19161 | xx[92] = xx[113] + xx[59] + xx[77]; |
| 19162 | xx[93] = xx[114] + xx[60] + xx[78]; |
| 19163 | pm_math_quatXform(xx + 42, xx + 91, xx + 58); |
| 19164 | xx[40] = xx[117] + xx[58] - xx[124] * xx[49]; |
| 19165 | xx[52] = xx[118] + xx[59] + xx[125] * xx[49]; |
| 19166 | xx[55] = xx[52] * xx[15] + xx[19] * xx[40]; |
| 19167 | xx[61] = xx[49] * xx[135]; |
| 19168 | xx[58] = xx[119] + xx[60]; |
| 19169 | xx[76] = xx[18] + xx[40] - xx[80] * xx[55] * xx[19] - xx[129]; |
| 19170 | xx[77] = xx[61] + xx[52] - xx[80] * xx[55] * xx[15] + xx[9]; |
| 19171 | xx[78] = xx[58] - (xx[15] * xx[58] * xx[15] + xx[58] * xx[19] * xx[19]) * xx |
| 19172 | [80]; |
| 19173 | pm_math_quatXform(xx + 72, xx + 76, xx + 58); |
| 19174 | xx[9] = xx[250] * xx[144]; |
| 19175 | xx[40] = xx[144] * xx[245]; |
| 19176 | xx[52] = xx[145] * xx[21]; |
| 19177 | xx[55] = xx[146] * xx[21]; |
| 19178 | xx[67] = xx[145] - (xx[21] * xx[52] - xx[25] * xx[55]) * xx[80]; |
| 19179 | xx[76] = xx[146] - xx[80] * (xx[25] * xx[52] + xx[21] * xx[55]); |
| 19180 | xx[91] = xx[22] + (xx[9] * xx[244] + xx[40] * xx[256]) * xx[80] + xx[67]; |
| 19181 | xx[92] = xx[80] * (xx[9] * xx[256] - xx[40] * xx[244]) + xx[76] - xx[32]; |
| 19182 | xx[93] = xx[0] + xx[144] - (xx[40] * xx[245] + xx[250] * xx[9]) * xx[80] + xx |
| 19183 | [147]; |
| 19184 | pm_math_cross3(xx + 91, xx + 267, xx + 100); |
| 19185 | pm_math_quatXform(xx + 35, xx + 100, xx + 91); |
| 19186 | xx[35] = xx[67]; |
| 19187 | xx[36] = xx[76]; |
| 19188 | xx[37] = xx[147]; |
| 19189 | pm_math_cross3(xx + 35, xx + 126, xx + 76); |
| 19190 | pm_math_quatXform(xx + 271, xx + 76, xx + 35); |
| 19191 | xx[0] = xx[35] - xx[144] * xx[276]; |
| 19192 | xx[9] = xx[36] + xx[144] * xx[275]; |
| 19193 | xx[22] = xx[9] * xx[89] + xx[122] * xx[0]; |
| 19194 | xx[76] = xx[144] * xx[12] + xx[0] - xx[80] * xx[22] * xx[122] + xx[41]; |
| 19195 | xx[77] = xx[9] - xx[80] * xx[22] * xx[89] - xx[144] * xx[53] - xx[54]; |
| 19196 | xx[78] = xx[37] - (xx[89] * xx[89] * xx[37] + xx[37] * xx[122] * xx[122]) * |
| 19197 | xx[80]; |
| 19198 | pm_math_quatXform(xx + 27, xx + 76, xx + 35); |
| 19199 | xx[0] = xx[49] * xx[340]; |
| 19200 | xx[9] = xx[49] * xx[341]; |
| 19201 | pm_math_quatInverseXform(xx + 335, xx + 183, xx + 27); |
| 19202 | pm_math_quatInverseXform(xx + 331, xx + 97, xx + 52); |
| 19203 | xx[12] = xx[57] * xx[261]; |
| 19204 | xx[22] = xx[246] * xx[50] - xx[56] * xx[57]; |
| 19205 | xx[30] = xx[50] * xx[261]; |
| 19206 | xx[76] = - xx[12]; |
| 19207 | xx[77] = xx[22]; |
| 19208 | xx[78] = xx[30]; |
| 19209 | pm_math_cross3(xx + 300, xx + 76, xx + 100); |
| 19210 | xx[76] = xx[171] + xx[80] * (xx[342] * xx[0] - xx[339] * xx[9]) + xx[27] + xx |
| 19211 | [52] + xx[80] * (xx[100] + xx[12] * xx[62]) - xx[50]; |
| 19212 | xx[77] = (xx[339] * xx[0] + xx[342] * xx[9]) * xx[80] + xx[28] + xx[53] + xx |
| 19213 | [80] * (xx[101] - xx[62] * xx[22]) - xx[187]; |
| 19214 | xx[78] = xx[3] + xx[49] - (xx[340] * xx[0] + xx[341] * xx[9]) * xx[80] + xx[29] |
| 19215 | + xx[54] + (xx[102] - xx[30] * xx[62]) * xx[80] - xx[57] + xx[79]; |
| 19216 | pm_math_cross3(xx + 76, xx + 84, xx + 27); |
| 19217 | pm_math_quatXform(xx + 175, xx + 27, xx + 52); |
| 19218 | xx[27] = xx[305] * xx[79] - xx[344] * xx[57]; |
| 19219 | xx[28] = xx[255] * xx[79] + xx[50] * xx[243] - xx[57] * xx[238]; |
| 19220 | xx[29] = xx[79] * xx[257] + xx[344] * xx[50]; |
| 19221 | pm_math_quatXform(xx + 140, xx + 27, xx + 76); |
| 19222 | pm_math_cross3(xx + 97, xx + 324, xx + 27); |
| 19223 | xx[100] = xx[51] + xx[76] + xx[27]; |
| 19224 | xx[101] = xx[8] + xx[77] + xx[28]; |
| 19225 | xx[102] = xx[78] - xx[11] + xx[29]; |
| 19226 | pm_math_quatXform(xx + 68, xx + 100, xx + 27); |
| 19227 | pm_math_cross3(xx + 183, xx + 345, xx + 76); |
| 19228 | xx[100] = xx[112] + xx[27] + xx[76]; |
| 19229 | xx[101] = xx[113] + xx[28] + xx[77]; |
| 19230 | xx[102] = xx[114] + xx[29] + xx[78]; |
| 19231 | pm_math_quatXform(xx + 42, xx + 100, xx + 27); |
| 19232 | xx[0] = xx[117] + xx[27] - xx[49] * xx[343]; |
| 19233 | xx[3] = xx[118] + xx[28] + xx[49] * xx[349]; |
| 19234 | xx[9] = xx[3] * xx[15] + xx[19] * xx[0]; |
| 19235 | xx[12] = xx[119] + xx[29]; |
| 19236 | xx[27] = xx[18] + xx[0] - xx[80] * xx[9] * xx[19] - xx[115]; |
| 19237 | xx[28] = xx[61] + xx[3] - xx[80] * xx[9] * xx[15] + xx[182]; |
| 19238 | xx[29] = xx[12] - (xx[15] * xx[12] * xx[15] + xx[12] * xx[19] * xx[19]) * xx |
| 19239 | [80]; |
| 19240 | pm_math_quatXform(xx + 72, xx + 27, xx + 76); |
| 19241 | xx[0] = xx[105] * xx[393]; |
| 19242 | xx[3] = xx[105] * xx[391]; |
| 19243 | xx[9] = xx[106] * xx[21]; |
| 19244 | xx[12] = xx[123] * xx[21]; |
| 19245 | xx[22] = xx[106] - (xx[21] * xx[9] - xx[25] * xx[12]) * xx[80]; |
| 19246 | xx[27] = xx[123] - xx[80] * (xx[25] * xx[9] + xx[21] * xx[12]); |
| 19247 | xx[28] = (xx[0] * xx[306] + xx[3] * xx[398]) * xx[80] + xx[22] - xx[157]; |
| 19248 | xx[29] = xx[158] + xx[80] * (xx[0] * xx[398] - xx[3] * xx[306]) + xx[27]; |
| 19249 | xx[30] = xx[26] + xx[105] - (xx[3] * xx[391] + xx[393] * xx[0]) * xx[80] + xx |
| 19250 | [131]; |
| 19251 | pm_math_cross3(xx + 28, xx + 267, xx + 100); |
| 19252 | pm_math_quatXform(xx + 160, xx + 100, xx + 28); |
| 19253 | xx[100] = xx[22]; |
| 19254 | xx[101] = xx[27]; |
| 19255 | xx[102] = xx[131]; |
| 19256 | pm_math_cross3(xx + 100, xx + 126, xx + 108); |
| 19257 | pm_math_quatXform(xx + 428, xx + 108, xx + 100); |
| 19258 | xx[0] = xx[100] - xx[105] * xx[433]; |
| 19259 | xx[3] = xx[101] + xx[105] * xx[432]; |
| 19260 | xx[9] = xx[3] * xx[313] + xx[383] * xx[0]; |
| 19261 | xx[108] = xx[105] * xx[33] + xx[0] - xx[80] * xx[9] * xx[383] - xx[156]; |
| 19262 | xx[109] = xx[105] * xx[159] + xx[3] - xx[80] * xx[9] * xx[313] + xx[170]; |
| 19263 | xx[110] = xx[102] - (xx[313] * xx[313] * xx[102] + xx[102] * xx[383] * xx[383]) |
| 19264 | * xx[80]; |
| 19265 | pm_math_quatXform(xx + 152, xx + 108, xx + 100); |
| 19266 | xx[0] = xx[49] * xx[489]; |
| 19267 | xx[3] = xx[49] * xx[490]; |
| 19268 | pm_math_quatInverseXform(xx + 484, xx + 183, xx + 108); |
| 19269 | pm_math_quatInverseXform(xx + 480, xx + 97, xx + 122); |
| 19270 | xx[9] = xx[440] * xx[57]; |
| 19271 | xx[12] = xx[57] * xx[303] - xx[50] * xx[400]; |
| 19272 | xx[22] = xx[440] * xx[50]; |
| 19273 | xx[131] = xx[9]; |
| 19274 | xx[132] = xx[12]; |
| 19275 | xx[133] = - xx[22]; |
| 19276 | pm_math_cross3(xx + 441, xx + 131, xx + 134); |
| 19277 | xx[131] = xx[209] + xx[80] * (xx[491] * xx[0] - xx[488] * xx[3]) + xx[108] + |
| 19278 | xx[122] + xx[80] * (xx[134] + xx[397] * xx[9]) - xx[50]; |
| 19279 | xx[132] = (xx[488] * xx[0] + xx[491] * xx[3]) * xx[80] + xx[109] + xx[123] + |
| 19280 | xx[80] * (xx[135] + xx[397] * xx[12]) - xx[225]; |
| 19281 | xx[133] = xx[116] + xx[49] - (xx[489] * xx[0] + xx[490] * xx[3]) * xx[80] + |
| 19282 | xx[110] + xx[124] + (xx[136] - xx[397] * xx[22]) * xx[80] - xx[57] - xx[83]; |
| 19283 | pm_math_cross3(xx + 131, xx + 84, xx + 108); |
| 19284 | pm_math_quatXform(xx + 212, xx + 108, xx + 122); |
| 19285 | xx[108] = xx[457] * xx[83] - xx[493] * xx[57]; |
| 19286 | xx[109] = xx[83] * xx[401] + xx[57] * xx[13] + xx[50] * xx[314]; |
| 19287 | xx[110] = xx[83] * xx[444] + xx[493] * xx[50]; |
| 19288 | pm_math_quatXform(xx + 140, xx + 108, xx + 131); |
| 19289 | pm_math_cross3(xx + 97, xx + 454, xx + 108); |
| 19290 | xx[134] = xx[51] + xx[131] + xx[108]; |
| 19291 | xx[135] = xx[8] + xx[132] + xx[109]; |
| 19292 | xx[136] = xx[133] - xx[11] + xx[110]; |
| 19293 | pm_math_quatXform(xx + 68, xx + 134, xx + 108); |
| 19294 | pm_math_cross3(xx + 183, xx + 494, xx + 131); |
| 19295 | xx[134] = xx[112] + xx[108] + xx[131]; |
| 19296 | xx[135] = xx[113] + xx[109] + xx[132]; |
| 19297 | xx[136] = xx[114] + xx[110] + xx[133]; |
| 19298 | pm_math_quatXform(xx + 42, xx + 134, xx + 108); |
| 19299 | xx[0] = xx[117] + xx[108] - xx[49] * xx[492]; |
| 19300 | xx[3] = xx[118] + xx[109] + xx[49] * xx[498]; |
| 19301 | xx[9] = xx[3] * xx[15] + xx[19] * xx[0]; |
| 19302 | xx[12] = xx[119] + xx[110]; |
| 19303 | xx[108] = xx[18] + xx[0] - xx[80] * xx[9] * xx[19] - xx[208]; |
| 19304 | xx[109] = xx[61] + xx[3] - xx[80] * xx[9] * xx[15] + xx[210]; |
| 19305 | xx[110] = xx[12] - (xx[15] * xx[12] * xx[15] + xx[12] * xx[19] * xx[19]) * xx |
| 19306 | [80]; |
| 19307 | pm_math_quatXform(xx + 72, xx + 108, xx + 131); |
| 19308 | xx[0] = xx[149] * xx[558]; |
| 19309 | xx[3] = xx[149] * xx[544]; |
| 19310 | xx[9] = xx[150] * xx[21]; |
| 19311 | xx[12] = xx[151] * xx[21]; |
| 19312 | xx[13] = xx[150] - (xx[21] * xx[9] - xx[25] * xx[12]) * xx[80]; |
| 19313 | xx[22] = xx[151] - xx[80] * (xx[25] * xx[9] + xx[21] * xx[12]); |
| 19314 | xx[108] = xx[172] + (xx[0] * xx[513] + xx[3] * xx[560]) * xx[80] + xx[13]; |
| 19315 | xx[109] = xx[80] * (xx[0] * xx[560] - xx[3] * xx[513]) + xx[22] - xx[186]; |
| 19316 | xx[110] = xx[5] + xx[149] - (xx[3] * xx[544] + xx[558] * xx[0]) * xx[80] + xx |
| 19317 | [164]; |
| 19318 | pm_math_cross3(xx + 108, xx + 267, xx + 134); |
| 19319 | pm_math_quatXform(xx + 201, xx + 134, xx + 108); |
| 19320 | xx[134] = xx[13]; |
| 19321 | xx[135] = xx[22]; |
| 19322 | xx[136] = xx[164]; |
| 19323 | pm_math_cross3(xx + 134, xx + 126, xx + 137); |
| 19324 | pm_math_quatXform(xx + 575, xx + 137, xx + 134); |
| 19325 | xx[0] = xx[134] - xx[149] * xx[580]; |
| 19326 | xx[3] = xx[135] + xx[149] * xx[579]; |
| 19327 | xx[5] = xx[3] * xx[452] + xx[399] * xx[0]; |
| 19328 | xx[137] = xx[149] * xx[14] + xx[0] - xx[80] * xx[5] * xx[399] + xx[174]; |
| 19329 | xx[138] = xx[149] * xx[192] + xx[3] - xx[80] * xx[5] * xx[452] - xx[193]; |
| 19330 | xx[139] = xx[136] - (xx[452] * xx[452] * xx[136] + xx[136] * xx[399] * xx[399]) |
| 19331 | * xx[80]; |
| 19332 | pm_math_quatXform(xx + 188, xx + 137, xx + 12); |
| 19333 | xx[0] = xx[49] * xx[639]; |
| 19334 | xx[3] = xx[49] * xx[640]; |
| 19335 | pm_math_quatInverseXform(xx + 630, xx + 183, xx + 134); |
| 19336 | pm_math_quatInverseXform(xx + 626, xx + 97, xx + 137); |
| 19337 | xx[5] = xx[546] * xx[57]; |
| 19338 | xx[9] = xx[57] * xx[379] - xx[50] * xx[473]; |
| 19339 | xx[22] = xx[546] * xx[50]; |
| 19340 | xx[144] = - xx[5]; |
| 19341 | xx[145] = xx[9]; |
| 19342 | xx[146] = xx[22]; |
| 19343 | pm_math_cross3(xx + 601, xx + 144, xx + 149); |
| 19344 | xx[144] = xx[253] + xx[80] * (xx[641] * xx[0] - xx[638] * xx[3]) + xx[134] + |
| 19345 | xx[137] + xx[80] * (xx[149] + xx[312] * xx[5]) - xx[50]; |
| 19346 | xx[145] = (xx[638] * xx[0] + xx[641] * xx[3]) * xx[80] + xx[135] + xx[138] + |
| 19347 | xx[80] * (xx[150] - xx[312] * xx[9]) - xx[266]; |
| 19348 | xx[146] = xx[196] + xx[49] - (xx[639] * xx[0] + xx[640] * xx[3]) * xx[80] + |
| 19349 | xx[136] + xx[139] + (xx[151] - xx[312] * xx[22]) * xx[80] - xx[57] - xx[87]; |
| 19350 | pm_math_cross3(xx + 144, xx + 84, xx + 134); |
| 19351 | pm_math_quatXform(xx + 277, xx + 134, xx + 137); |
| 19352 | xx[134] = xx[611] * xx[87] - xx[635] * xx[57]; |
| 19353 | xx[135] = xx[535] * xx[87] + xx[57] * xx[463] + xx[50] * xx[446]; |
| 19354 | xx[136] = xx[87] * xx[574] + xx[635] * xx[50]; |
| 19355 | pm_math_quatXform(xx + 140, xx + 134, xx + 87); |
| 19356 | pm_math_cross3(xx + 97, xx + 595, xx + 134); |
| 19357 | xx[144] = xx[51] + xx[87] + xx[134]; |
| 19358 | xx[145] = xx[8] + xx[88] + xx[135]; |
| 19359 | xx[146] = xx[89] - xx[11] + xx[136]; |
| 19360 | pm_math_quatXform(xx + 68, xx + 144, xx + 87); |
| 19361 | pm_math_cross3(xx + 183, xx + 644, xx + 134); |
| 19362 | xx[144] = xx[112] + xx[87] + xx[134]; |
| 19363 | xx[145] = xx[113] + xx[88] + xx[135]; |
| 19364 | xx[146] = xx[114] + xx[89] + xx[136]; |
| 19365 | pm_math_quatXform(xx + 42, xx + 144, xx + 87); |
| 19366 | xx[0] = xx[117] + xx[87] - xx[49] * xx[634]; |
| 19367 | xx[3] = xx[118] + xx[88] + xx[49] * xx[636]; |
| 19368 | xx[5] = xx[3] * xx[15] + xx[19] * xx[0]; |
| 19369 | xx[9] = xx[119] + xx[89]; |
| 19370 | xx[87] = xx[18] + xx[0] - xx[80] * xx[5] * xx[19] - xx[233]; |
| 19371 | xx[88] = xx[61] + xx[3] - xx[80] * xx[5] * xx[15] + xx[254]; |
| 19372 | xx[89] = xx[9] - (xx[15] * xx[9] * xx[15] + xx[9] * xx[19] * xx[19]) * xx[80]; |
| 19373 | pm_math_quatXform(xx + 72, xx + 87, xx + 134); |
| 19374 | xx[0] = xx[165] * xx[706]; |
| 19375 | xx[3] = xx[165] * xx[686]; |
| 19376 | xx[5] = xx[166] * xx[21]; |
| 19377 | xx[9] = xx[167] * xx[21]; |
| 19378 | xx[22] = xx[166] - (xx[21] * xx[5] - xx[25] * xx[9]) * xx[80]; |
| 19379 | xx[26] = xx[167] - xx[80] * (xx[25] * xx[5] + xx[21] * xx[9]); |
| 19380 | xx[87] = xx[217] + (xx[0] * xx[670] + xx[3] * xx[708]) * xx[80] + xx[22]; |
| 19381 | xx[88] = xx[80] * (xx[0] * xx[708] - xx[3] * xx[670]) + xx[26] - xx[231]; |
| 19382 | xx[89] = xx[24] + xx[165] - (xx[3] * xx[686] + xx[706] * xx[0]) * xx[80] + xx |
| 19383 | [168]; |
| 19384 | pm_math_cross3(xx + 87, xx + 267, xx + 144); |
| 19385 | pm_math_quatXform(xx + 234, xx + 144, xx + 87); |
| 19386 | xx[144] = xx[22]; |
| 19387 | xx[145] = xx[26]; |
| 19388 | xx[146] = xx[168]; |
| 19389 | pm_math_cross3(xx + 144, xx + 126, xx + 149); |
| 19390 | pm_math_quatXform(xx + 725, xx + 149, xx + 144); |
| 19391 | xx[0] = xx[144] - xx[165] * xx[730]; |
| 19392 | xx[3] = xx[145] + xx[165] * xx[729]; |
| 19393 | xx[5] = xx[3] * xx[605] + xx[532] * xx[0]; |
| 19394 | xx[149] = xx[165] * xx[211] + xx[0] - xx[80] * xx[5] * xx[532] + xx[239]; |
| 19395 | xx[150] = xx[165] * xx[251] + xx[3] - xx[80] * xx[5] * xx[605] - xx[252]; |
| 19396 | xx[151] = xx[146] - (xx[605] * xx[605] * xx[146] + xx[146] * xx[532] * xx[532]) |
| 19397 | * xx[80]; |
| 19398 | pm_math_quatXform(xx + 226, xx + 149, xx + 144); |
| 19399 | xx[0] = xx[49] * xx[916]; |
| 19400 | xx[3] = xx[49] * xx[917]; |
| 19401 | pm_math_quatInverseXform(xx + 911, xx + 183, xx + 149); |
| 19402 | pm_math_quatInverseXform(xx + 897, xx + 97, xx + 152); |
| 19403 | xx[5] = xx[50] * xx[637]; |
| 19404 | xx[155] = xx[310] + xx[80] * (xx[918] * xx[0] - xx[915] * xx[3]) + xx[149] + |
| 19405 | xx[152] + xx[80] * xx[5] * xx[637] - xx[50]; |
| 19406 | xx[156] = (xx[915] * xx[0] + xx[918] * xx[3]) * xx[80] + xx[150] + xx[153] - |
| 19407 | xx[80] * xx[2] * xx[5] - xx[330]; |
| 19408 | xx[157] = xx[194] + xx[49] - (xx[916] * xx[0] + xx[917] * xx[3]) * xx[80] + |
| 19409 | xx[151] + xx[154] - (xx[57] + xx[104]); |
| 19410 | pm_math_cross3(xx + 155, xx + 84, xx + 149); |
| 19411 | pm_math_quatXform(xx + 319, xx + 149, xx + 83); |
| 19412 | xx[149] = xx[17] * xx[104] - xx[57] * xx[66]; |
| 19413 | xx[150] = - (xx[104] * xx[20] + xx[57] * xx[707] + xx[790] * xx[50]); |
| 19414 | xx[151] = xx[50] * xx[66]; |
| 19415 | pm_math_quatXform(xx + 140, xx + 149, xx + 55); |
| 19416 | pm_math_cross3(xx + 97, xx + 891, xx + 104); |
| 19417 | xx[97] = xx[51] + xx[55] + xx[104]; |
| 19418 | xx[98] = xx[8] + xx[56] + xx[105]; |
| 19419 | xx[99] = xx[57] - xx[11] + xx[106]; |
| 19420 | pm_math_quatXform(xx + 68, xx + 97, xx + 55); |
| 19421 | pm_math_cross3(xx + 183, xx + 919, xx + 66); |
| 19422 | xx[69] = xx[112] + xx[55] + xx[66]; |
| 19423 | xx[70] = xx[113] + xx[56] + xx[67]; |
| 19424 | xx[71] = xx[114] + xx[57] + xx[68]; |
| 19425 | pm_math_quatXform(xx + 42, xx + 69, xx + 55); |
| 19426 | xx[0] = xx[117] + xx[55] - xx[49] * xx[121]; |
| 19427 | xx[2] = xx[118] + xx[56] + xx[49] * xx[148]; |
| 19428 | xx[3] = xx[2] * xx[15] + xx[19] * xx[0]; |
| 19429 | xx[5] = xx[119] + xx[57]; |
| 19430 | xx[40] = xx[18] + xx[0] - xx[80] * xx[3] * xx[19] - xx[81]; |
| 19431 | xx[41] = xx[61] + xx[2] - xx[80] * xx[3] * xx[15] + xx[82]; |
| 19432 | xx[42] = xx[5] - (xx[15] * xx[5] * xx[15] + xx[5] * xx[19] * xx[19]) * xx[80]; |
| 19433 | pm_math_quatXform(xx + 72, xx + 40, xx + 17); |
| 19434 | xx[0] = xx[16] * xx[745]; |
| 19435 | xx[2] = xx[16] * xx[743]; |
| 19436 | xx[3] = xx[46] * xx[21]; |
| 19437 | xx[5] = xx[47] * xx[21]; |
| 19438 | xx[8] = xx[46] - (xx[21] * xx[3] - xx[25] * xx[5]) * xx[80]; |
| 19439 | xx[9] = xx[47] - xx[80] * (xx[25] * xx[3] + xx[21] * xx[5]); |
| 19440 | xx[20] = xx[260] + (xx[0] * xx[720] + xx[2] * xx[753]) * xx[80] + xx[8]; |
| 19441 | xx[21] = xx[80] * (xx[0] * xx[753] - xx[2] * xx[720]) + xx[9] - xx[288]; |
| 19442 | xx[22] = xx[107] + xx[16] - (xx[2] * xx[743] + xx[745] * xx[0]) * xx[80] + xx |
| 19443 | [48]; |
| 19444 | pm_math_cross3(xx + 20, xx + 267, xx + 24); |
| 19445 | pm_math_quatXform(xx + 292, xx + 24, xx + 20); |
| 19446 | xx[24] = xx[8]; |
| 19447 | xx[25] = xx[9]; |
| 19448 | xx[26] = xx[48]; |
| 19449 | pm_math_cross3(xx + 24, xx + 126, xx + 40); |
| 19450 | pm_math_quatXform(xx + 777, xx + 40, xx + 24); |
| 19451 | xx[0] = xx[24] - xx[16] * xx[782]; |
| 19452 | xx[2] = xx[25] + xx[16] * xx[781]; |
| 19453 | xx[3] = xx[2] * xx[660] + xx[643] * xx[0]; |
| 19454 | xx[40] = xx[0] - xx[80] * xx[3] * xx[643] - xx[16] * xx[270] + xx[291]; |
| 19455 | xx[41] = xx[16] * xx[299] + xx[2] - xx[80] * xx[3] * xx[660] - xx[304]; |
| 19456 | xx[42] = xx[26] - (xx[660] * xx[660] * xx[26] + xx[26] * xx[643] * xx[643]) * |
| 19457 | xx[80]; |
| 19458 | pm_math_quatXform(xx + 284, xx + 40, xx + 24); |
| 19459 | xx[147] = fabs(xx[63] + xx[34] + xx[58] - (xx[91] + xx[4] + xx[35])); |
| 19460 | xx[148] = fabs(xx[64] + xx[90] + xx[59] - (xx[92] + xx[96] + xx[36])); |
| 19461 | xx[149] = fabs(xx[65] + xx[1] + xx[60] - (xx[93] + xx[6] + xx[37])); |
| 19462 | xx[150] = fabs(xx[52] + xx[34] + xx[76] - (xx[28] + xx[31] + xx[100])); |
| 19463 | xx[151] = fabs(xx[53] + xx[90] + xx[77] - (xx[29] + xx[39] + xx[101])); |
| 19464 | xx[152] = fabs(xx[54] + xx[1] + xx[78] - (xx[30] + xx[103] + xx[102])); |
| 19465 | xx[153] = fabs(xx[122] + xx[34] + xx[131] - (xx[108] + xx[12] - xx[111])); |
| 19466 | xx[154] = fabs(xx[123] + xx[90] + xx[132] - (xx[109] + xx[130] + xx[13])); |
| 19467 | xx[155] = fabs(xx[124] + xx[1] + xx[133] - (xx[110] + xx[173] + xx[14])); |
| 19468 | xx[156] = fabs(xx[137] + xx[34] + xx[134] - (xx[87] + xx[200] + xx[144])); |
| 19469 | xx[157] = fabs(xx[138] + xx[90] + xx[135] - (xx[88] + xx[216] + xx[145])); |
| 19470 | xx[158] = fabs(xx[139] + xx[1] + xx[136] - (xx[89] + xx[218] + xx[146])); |
| 19471 | xx[159] = fabs(xx[83] + xx[34] + xx[17] - (xx[20] + xx[232] + xx[24])); |
| 19472 | xx[160] = fabs(xx[84] + xx[90] + xx[18] - (xx[21] + xx[23] + xx[25])); |
| 19473 | xx[161] = fabs(xx[85] + xx[1] + xx[19] - (xx[22] + xx[10] + xx[26])); |
| 19474 | ii[0] = 147; |
| 19475 | |
| 19476 | { |
| 19477 | int ll; |
| 19478 | for (ll = 148; ll < 162; ++ll) |
| 19479 | if (xx[ll] > xx[ii[0]]) |
| 19480 | ii[0] = ll; |
| 19481 | } |
| 19482 | |
| 19483 | ii[0] -= 147; |
| 19484 | xx[0] = xx[147 + (ii[0])]; |
| 19485 | xx[1] = xx[0] - xx[7]; |
| 19486 | if (xx[1] < 0.0) |
| 19487 | ii[1] = -1; |
| 19488 | else if (xx[1] > 0.0) |
| 19489 | ii[1] = +1; |
| 19490 | else |
| 19491 | ii[1] = 0; |
| 19492 | ii[2] = ii[1]; |
| 19493 | if (0 > ii[2]) |
| 19494 | ii[2] = 0; |
| 19495 | if (ii[2] != 0) { |
| 19496 | switch (ii[0]) |
| 19497 | { |
| 19498 | case 0: |
| 19499 | case 1: |
| 19500 | case 2: |
| 19501 | { |
| 19502 | return sm_ssci_recordRunTimeError( |
| 19503 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 19504 | "'PlatformAssem/Rod_assem_11/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 19505 | neDiagMgr); |
| 19506 | } |
| 19507 | |
| 19508 | case 3: |
| 19509 | case 4: |
| 19510 | case 5: |
| 19511 | { |
| 19512 | return sm_ssci_recordRunTimeError( |
| 19513 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 19514 | "'PlatformAssem/Rod_assem_12/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 19515 | neDiagMgr); |
| 19516 | } |
| 19517 | |
| 19518 | case 6: |
| 19519 | case 7: |
| 19520 | case 8: |
| 19521 | { |
| 19522 | return sm_ssci_recordRunTimeError( |
| 19523 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 19524 | "'PlatformAssem/Rod_assem_13/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 19525 | neDiagMgr); |
| 19526 | } |
| 19527 | |
| 19528 | case 9: |
| 19529 | case 10: |
| 19530 | case 11: |
| 19531 | { |
| 19532 | return sm_ssci_recordRunTimeError( |
| 19533 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 19534 | "'PlatformAssem/Rod_assem_14/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 19535 | neDiagMgr); |
| 19536 | } |
| 19537 | |
| 19538 | case 12: |
| 19539 | case 13: |
| 19540 | case 14: |
| 19541 | { |
| 19542 | return sm_ssci_recordRunTimeError( |
| 19543 | "sm:compiler:messages:simulationErrors:ConstraintViolation", |
| 19544 | "'PlatformAssem/Rod_assem_1/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.", |
| 19545 | neDiagMgr); |
| 19546 | } |
| 19547 | } |
| 19548 | } |
| 19549 | |
| 19550 | state[0] = xx[922]; |
| 19551 | state[1] = xx[923]; |
| 19552 | state[2] = xx[924]; |
| 19553 | state[3] = xx[925]; |
| 19554 | state[4] = xx[926]; |
| 19555 | state[5] = xx[927]; |
| 19556 | state[6] = xx[928]; |
| 19557 | state[7] = xx[929]; |
| 19558 | state[8] = xx[930]; |
| 19559 | state[9] = xx[931]; |
| 19560 | state[10] = xx[932]; |
| 19561 | state[11] = xx[933]; |
| 19562 | state[12] = xx[934]; |
| 19563 | state[13] = xx[935]; |
| 19564 | state[14] = xx[936]; |
| 19565 | state[15] = xx[937]; |
| 19566 | state[16] = xx[938]; |
| 19567 | state[17] = xx[939]; |
| 19568 | state[18] = xx[940]; |
| 19569 | state[19] = xx[941]; |
| 19570 | state[20] = xx[942]; |
| 19571 | state[21] = xx[943]; |
| 19572 | state[22] = xx[944]; |
| 19573 | state[23] = xx[945]; |
| 19574 | state[24] = xx[946]; |
| 19575 | state[25] = xx[947]; |
| 19576 | state[26] = xx[948]; |
| 19577 | state[27] = xx[949]; |
| 19578 | state[28] = xx[950]; |
| 19579 | state[29] = xx[951]; |
| 19580 | state[30] = xx[952]; |
| 19581 | state[31] = xx[953]; |
| 19582 | state[32] = xx[954]; |
| 19583 | state[33] = xx[955]; |
| 19584 | state[34] = xx[956]; |
| 19585 | state[35] = xx[957]; |
| 19586 | state[36] = xx[958]; |
| 19587 | state[37] = xx[959]; |
| 19588 | state[38] = xx[960]; |
| 19589 | state[39] = xx[961]; |
| 19590 | state[40] = xx[962]; |
| 19591 | state[41] = xx[963]; |
| 19592 | state[42] = xx[964]; |
| 19593 | state[43] = xx[965]; |
| 19594 | state[44] = xx[966]; |
| 19595 | state[45] = xx[967]; |
| 19596 | state[46] = xx[968]; |
| 19597 | state[47] = xx[969]; |
| 19598 | state[48] = xx[970]; |
| 19599 | state[49] = xx[971]; |
| 19600 | state[50] = xx[972]; |
| 19601 | state[51] = xx[973]; |
| 19602 | state[52] = xx[974]; |
| 19603 | state[53] = xx[975]; |
| 19604 | state[54] = xx[976]; |
| 19605 | state[55] = xx[977]; |
| 19606 | state[56] = xx[978]; |
| 19607 | state[57] = xx[979]; |
| 19608 | state[58] = xx[980]; |
| 19609 | state[59] = xx[981]; |
| 19610 | state[60] = xx[982]; |
| 19611 | state[61] = xx[983]; |
| 19612 | state[62] = xx[984]; |
| 19613 | state[63] = xx[985]; |
| 19614 | state[64] = xx[986]; |
| 19615 | state[65] = xx[987]; |
| 19616 | state[66] = xx[988]; |
| 19617 | state[67] = xx[989]; |
| 19618 | state[68] = xx[990]; |
| 19619 | state[69] = xx[991]; |
| 19620 | state[70] = xx[992]; |
| 19621 | state[71] = xx[993]; |
| 19622 | state[72] = xx[994]; |
| 19623 | state[73] = xx[995]; |
| 19624 | state[74] = xx[996]; |
| 19625 | state[75] = xx[997]; |
| 19626 | state[76] = xx[998]; |
| 19627 | state[77] = xx[999]; |
| 19628 | state[78] = xx[1000]; |
| 19629 | state[79] = xx[1001]; |
| 19630 | state[80] = xx[1002]; |
| 19631 | state[81] = xx[1003]; |
| 19632 | state[82] = xx[1004]; |
| 19633 | state[83] = xx[1005]; |
| 19634 | state[84] = xx[1006]; |
| 19635 | state[85] = xx[1007]; |
| 19636 | state[86] = xx[1008]; |
| 19637 | state[87] = xx[1009]; |
| 19638 | state[88] = xx[1010]; |
| 19639 | state[89] = xx[1011]; |
| 19640 | state[90] = xx[1012]; |
| 19641 | state[91] = xx[1013]; |
| 19642 | state[92] = xx[1014]; |
| 19643 | state[93] = xx[1015]; |
| 19644 | state[94] = xx[1016]; |
| 19645 | state[95] = xx[1017]; |
| 19646 | state[96] = xx[1018]; |
| 19647 | return NULL; |
| 19648 | } |
| 19649 | |